I did this repair recently on my 06 4.0 based on scw1991's posts. Yes you can get to this from the front of the truck after you remove the skid plates. It's a tight fit and you'll need to get creative with your socket wrenches.
My symptoms were the blinking 4WD and diff lock lights on the dash when trying to engage 4Hi. I'd have to cycle the ignition to get the lights to quit flashing. Obviously no 4Lo either as the former must happen first. Further troubleshooting with the help of my kid confirmed that with engine off and truck in N, when trying to engage 4Hi I could hear motors buzzing in the transfer case but nothing happening at the front actuator.
I drained the front diff fluid (make sure you can loosen the fill bolt first). Then I jacked up the front end and unplugged the electrical connector and vacuum line from the actuator. 4 bolts later and the thing was off. There's a frame crossmember right there but it did fit (barely). I then took it apart and sure enough the motor had siezed but was otherwise very clean inside. A couple drops of gun oil and it was spinning fine. While apart I also soldered the motor leads. After reassembling the actuator (it only goes back together one way) I didn't install it but plugged it back in under the truck (left it hanging by the connector). We did the engine off test and lo and behold it 'went' into 4Hi. I held my breath and tried 4Lo and it also worked (as did the diff lock). Woohoo!
Then I practiced reinstalling this which is the tough part. You need to make sure the diff collar is pushed to the correct side (you'll understand this when you see inside the diff housing) and it obviously goes in at an angle. I'm not sure but I don't think it will go on without the arm properly fitting into the collar, there's just not enough room otherwise. When I had my procedure figured out (mainly holding my tongue right) I dabbed some gasket sealant on and put it on. There are two alignment nibs, so when it's on at least the bolt holes line up.
Before refilling the diff fluid I tested everything and it still worked. I could feel it engage. This was quite a relieving feeling.