You can try having someone get under the vehicle with a dead blow or a hammer and firmly tapping the actuator assembly (not too hard, we're not trying to break the damn thing!) while you shift the vehicle through 4WD and engage the Center Diff Lock.
Another thing you can try is engage the center diff lock and to drive the vehicle forward 10ft, shift to reverse and drive 10ft, and shift back and drive forward 10ft.
These are usually the ways I'll try to free up a stuck actuator. The main reason this happens is because people don't regularly exercise their 4WD system (I think Toyota says in the manual to engage it like once a month or every other month?).
If that doesn't work, then you're going to want to go into diagnostic mode and start checking the electrical circuits to determine if the actuator assembly needs to be replaced (the more common failure, though as pointed out above a 4WD ECU is a possibility also.)