To go from 2hi to 4hi, you need to be driving less than 50 mph. It might takes a couple seconds for the light to stop flashing. This means it is in 4hi. Once in 4hi, you need to stop, put the transmission in neutral, keep your foot on the brake, and shift into 4lo. If the light keeps blinking, it is not engaging correctly. If you reverse these steps and go back to 2hi, and the light keeps blinking, try driving straight ahead with no wheel spin, or reverse. The lights should go out.
How long have you owned this 2010? How often have you put it in 4hi or 4lo? It could be as simple as one of the actuators being "frozen" from not being used. If this is the case, you need to determine which one is sticking, and try smacking it with a hammer. Sometimes it will un stick it. If not, go back to your dealer and go on the test ride with them to replicate the issue with the technician in the vehicle with you.