When can I shift the TCase?

JMT

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Say I'm driving down the road doing 35mph and I realize I forgot to take it out of 4wh. Can I just shift the TCase right there, or do I need to slow down or come to a complete stop?
 
Here are the pages right from the owners manual
Thanks! I was going through the FSM and could not find it anywhere. I forgot to look in the owners manual sitting right in my glove box. That's an interesting note they make about the preferred method being to go from 4hi to 4lo and vice versa at 2-3mph rather than a stopped position. That could explain the difficulties I've sometimes had transferring.

No mention is made for the need to depress the clutch when shifting from 2 to 4hi and vice versa, but I'm afraid to try without pressing the clutch...
 
Don't let fear hold ya back brah. Shift dat tang! I've shifted from 2 to 4hi as fast as 45 mph. scary at first, but it shifts no problemo.
 
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