Do Tacomas have a 4WD limp mode?

I own a very low mileage 2011 Tacoma TRD/OR with only 13K miles on it. The front differential actuator for the A.D.D died and that totally disabled the entire 4WD system. I'm glad I discovered that fault BEFORE I went off-roading. Is there any "limp mode" if that happens on the trail. Not only did I lose 4WD, but I also lost low range. That's not a good situation, IMO

 

No, there’s no ‘limp’ mode for the 4WD system. When something goes bad, the light will flash and you won’t have 4WD. The best way around this is to check the vent hose connections on the actuator to be sure they are good and regularly activate the 4WD system.

 

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