My Truck Stuck in 4 hi

Hey Guys , please enlighten me on this , I was driving in 4 hi for a bit in snow and slush and when I got to bare pave I put it in 2 hi, The light for 4wd went out but the truck still seemed like it was in 4wd it seemed under load and was pulling to the right fairley hard and the steering wheel was shaking really bad at highway speeds the cab even seemed to shake . Its a 06 TRD V6 with 105 k on it and this is the only problem I ever had but I bought it with 92 k on it on its my first Tacoma . I shut it off but nothing changed , went to the hockey game and a few hours later went for a drive and everything is perfect now , but havent put it back in 4 hi . Any Ideas ? your help would be great .
I was also wondering if a u joint was starting to seize, would this possibly also cause the problem .I noticed it again coming home from work this evening and it was fine this morning , there is also a slight rumble heard in the cab
thanks Jonesy

 

Mud stuck in a wheel ?

 

No mud or ice , I park her in the garage at night