Ok, so I heard from the guy that built the rig and he said said that he disabled the AWD. Here's his reply:
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"Alright so the center diff making it all wheel drive is a bad design. To many moving parts in tcase. The case is a 2 year design 99-00. I disabled the awd mode as case seemed to lose its mind randomly and wouldn’t let it go in anything. I had the case out and all apart to make sure everything was good. I replaced the actuator just to eliminate it. The sensors as well. All is good and right and does work I just chose to unplug that switch that initiates awd to keep from having issues as I never needed awd"
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Has that been the experience of others that own 99-00 4runners with the multimode center diffs?