4wd problem

So I have a 2010 Tacoma and I accidentally tried shifting it into 4wd when it was at like 5k rpm’s and it like thunked twice and then now no matter what I have the shifter set on it just shows the 4wd light flashing. Is there anyway I can diagnose the shifter motor or actuator? I tried unplugging everything and unplugging the battery but didn’t do anything

 

Were you spinning the wheels when you attempted the shift or just driving down the road?
If your comfortable using a meter you can backprobe the connectors at the 4wd ECU and see what's out of range.
https://www.tacomaworld.com/threads/4wd-system-operation-help-thread.742420/

 

Ya they were spinning. I’ll check out your post thank you!

 

Best case one of the actuators got out of sync, worst case you broke something. You should never shift into 4wd when your spinning the tires, it's ok to do it just driving down the road but if your stuck you should always come to a stop before attempting a shift.