FIXED!!!
I found the issue - a broken wire. One little wire with all this hardwork. Crimped it, soldered it, repaired it and 4wd is back online. I shifted in and out of 2HI and 4HI, but I am going to avoid multi mode for a bit.
YouTube
Here is a video I found while researching that contained some good info on how toyota T-cases work. The video is for a 01-04 Tundra I believe, but it uses the same actuator and front actuator as the 01-02 4Runners. 99-00 4Runners with multimode use a very similiar system.