transfer case issues

hello, i have a 2006 trd off road. it has nearly 300k on the clock and ive had it for about a year now, and i love it. i havent had any real issues with it up until recently. about a month or two i went to put it into four high to climb a hill that had a lot of loose dirt. ive climb this same hill before by putting into four wheel drive without any issues. however this time instead of shifting like normal it clunked and the light started flashing. it felt like it was in four wheel drive so i didnt think anything of it and put the switch back into the 2hi setting. the light kept flashing and i figured that if i shut off my truck and left it over night it would be okay. i did some research that same night and read somewhere that the flashing is due to it being in an unknown position so the next day i manually shifted the t-case back into 2wd, and the light turned off and i thought nothing of it. then the next time i went to use my 4wd it did the same clunk, and the light started flashing again, however when i put the switch to 2wd the light turned off this time. ive pulled the actuator apart and cleaned off the sensors, and ive shifted it manually again just to verify that the tcase is still working. but im kind of at a loss now

 

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https://www.tacomaworld.com/threads/4wd-system-operation-help-thread.742420/