In your 02 if you have not pushed the 4wd button then you are in 2wd. Unlike 4th gen V8's you can be in 2wd if you want, so your truck is not technically full time 4wd, it just has that ability. For driving on the road in snow, slush or any other condition that limits traction, simply push the 4wd button on the shifter. You should see all the green wheels on your 4wd indicator lit up, if you need more traction or power you can stop, put it in neutral and switch to 4lo, at this point you still have not locked the center diff and are still safe on pavement. If you are venturing off road, or you get stuck in a snow bank, reach up to the dash, to the left of the steering wheel and push the center diff lock button, you should now see the orange center diff lit up on your 4wd display. Now the center diff is locked and you should not be on dry pavement, you can also shift between hi and lo at this time. With the center diff locked you also have turned off VSC, or vehicle skid control, but TRAC will still work. VSC, per toyota, is what can shut off your throttle, so if you really need to rev the truck to get unstuck VSC would work against you.