I could be the motor. The motor has a plastic stop bumper inside that gets brittle and breaks sometimes, causing the motor to "lose it's place" so to speak. But if you're shifting in and out 4wd ok then that's probably not the issue. There are 2 relays in the dash behind the radio, one is the TOD(torque on demand) relay and the other is the 4wd shift relay. The TOD relay is a solid state(electronic) relay so it doesn't click when it engages or disengages so the 4wd shift relay could be the culprit. One other thing it could be is the contact plate on the shift motor or the connector at the t-case could be corroded. The easiest fix would be to pull the connector apart and hit it with some contact cleaner and see if that helps. Good luck and keep us posted.