Wait...
Before you start hammering anything, how are you trying to engage the 4wd?
What, exactly, are you doing? Particularly in the case of 4lo there is a very specific method of doing this, and most people do it wrong the first time because they haven't taken the time to read the manual or even the little card that's on the visor.
I'm presuming the vehicle is now in 2hi. To engage 4hi, you should be moving with the transmission in gear (I know you can put it in 4hi in P or N but my experience has been that it will go in more quickly if you are moving.) With the vehicle driving slowly forward, turn the dial from 2h to 4h. Both the green and yellow 4wd diagrams on the dash should be flashing. They should flash for a few seconds and then the yellow one should go out and the green one should go solid, not flashing. If that is happening, you are in 4hi. If you get a constant flashing of both yellow and green, try stopping, shifting into reverse and going back a short distance, then shift back to D and go forward again.
To go into 4lo, you must first come to a COMPLETE STOP. Then you must put the transmission in NEUTRAL. Not park, not Drive, not Reverse. NEUTRAL. Once the vehicle is stopped and the transmission is in neutral, turn the dial from 4h to 4l. You should hear/feel the t-case shifting and the green 4lo light on the dash will come on.
Going from 4lo to 4hi is the reverse of the above procedure, i.e. you have to come to a COMPLETE STOP and put the transmission in NEUTRAL.
If the transmission is not in neutral when you are trying to shift from 4h to 4l or 4l to 4h, you will just hear a loud angry beeping noise.
If none of the above work, then I would do the tapping-on-the-actuator bit. But I always say before you start messing around under the truck make sure you are activating the 4wd system correctly because otherwise it could be that you're simply doing something out of sequence and knowing the right way to activate 4wd can save you a lot of time and a lot of headaches.