For the last four years my 2008 4 Runner has shifted in and out of four wheel drive on the fly. This winter it will not go in or out unless I stop or go into reverse. The dealer and toyota help line have both said this it how it should work which does not make sense. I had a 2002 which shifted on the fly for over 100,000 miles. Has anyone had a similar experience ? Anyone resolved the problem?

 

It should shift into 4wd on the fly. Going into 4lo would require a full stop....