nasty sound out of transfer case?

I bought this truck at 28000, i'm now at 65000, i'm hoping to hear from you guys out there if you have experienced this, i have no problem shifting into and out of 4H, but occasionally i need 4L, i follow the instructions, tranny in neutral, turn knob to 4L, shift into drive, it seems like if the drivetrain isn't where it should be, i get a beeping and the yellow 4 wheel light on the dash flashes, so i put it back in neutral, turn the dial back to 4H, shift into drive, move the truck about six to eight feet and try the process over again, i may have to do this a couple of times but it does work, my problem is that occasionally when i shift from neutral to drive in 4L, i will hear a nasty grinding sound like gears not quite meshing, i will immediately shift out of drive and re-try the process. Any body experienced this?
I have never driven it on pavement in 4 wheel drive and i don't abuse my truck at all.

 

Hmm, makes sense cause i would usually shift into 4H in park, not moving, thanks!

 

totally, like i said, never on pavement or a surface where the wheels cant slip freely

 

i have nightmares of how much replacing a transfer case or a tranny would cost!

 

no kidding. mine "clunks" in when i havent used it for awhile.

i miss the manual lever where you can kinda feel it engage..you feel it slip into place. i even miss the manual locking hubs.

 

ok i follow what you're saying, that all four tires are moving the same speed, like on a consistent surface or going in a straight line?

 

i hear that clunk too once in awhile, hey i'm bay area Alameda where you at bay area?

 

i thought (like what do i know) that the truck would like it best if you shift into 4H when the truck is stopped, then hit the gas. but your saying it's better to shift into 4H while moving, then stop and shift into 4L? I'll admit freely that this is my first real 4x4, (toyota station wagon doesn't count). originally i was looking for a black dblcb with the locking diff on it but couldn't find one for sale so when this one came up i figured what the hell. i am glad i got the 4x4 now, not that one gets many opportunities to drop into 4H/4L around the bay area but when i have needed it, it sure brings a smile!