The OP seems to have defined “engaged” as the condition where the clutch pedal is depressed so as to disconnect the clutch plate from the flywheel and pressure plate. The OP’s impression is that the clutch will not connect to the engine (the normal definition of clutch engagement) with the pedal either in or out. I find it hard to believe that this is the case, regardless of how much mud is in there. There would at least be some drag that would prevent the transmission from going into gear, or enough to load down the engine somewhat, even if it was slipping. This really looks like the transfer case linkage is messed up.
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