2001 tacoma 4wd not working

I off road with this truck I use the 4wd drive quit a bit so today Im driving to work and sliding all over the road I engage 4wd the light never came on but I stopped slipping and sliding

I get in my grave parking lot and drove over a crub like I normally to to park on the grass well I got stuck im still stuck and it seems like 4wd disengaged and wont re-engage I tried shifting in from 4H 2H 4L I hear the electrical clicking sound but the light is not coming and and its not engaging

for now im gonna try and find some absorb all or ice sand to throw under the rear left tire its stuck on ice and its the that keeps spinning

 

Update I popped the cluch and that got me the traction I needed to Back out also it re engaged the 4wd just the dash light for the 4wd doesn't come on ? If I dissegage i slide all over the road if I re egage I stop sliding all over the road so I know it's engaging and disengaging but just no light

-UPDATE #2- now the light is on now
all seems fine now

 

Im interested in this too. My 2002 5 speed has failed in 4x4 twice, but over a year apart and a lot of 4 wheel drive time in between. First time it was a blown fuse. Second time fuse was fine, but switching it with another to check the fuse made it start working again.
Weirdest part was my e-locker engaged the second time which allowed me to get out, and I haven't done the mod for it to work in two wheel drive.

I haven't been able to figure out why it does it, and every time it snows I now worry it will fail and leave me stuck again (drive way both times luckily).

 

Also, first time I couldn't hear the transfer case attempt to engage, which was why I checked the fuse. Second time it was very audible but just wouldn't engage.

 

I'm thinking mine was either it was too cold or frozen , or dirty censor

Like you said wasn't the 1st time it happened to me , 1st time was in the summer and I was driving in mud the truck was covered in mud the next day I was out again and it wouldn't egage again this time i thought I lost my 4wd I went to a automatic car wash and tried to turn 4wd right after wash and it came on

 

On my 2004 the actuator was shot, it was full of mud and silt due to a rubber tube on the rear of the actuator being ripped off. I think it's a breather tube for the actuator if I remember correctly. Anyway I replaced the actuator and reinforced the rubber tube with a thick rubber washer and some epoxy, no problems since. This was about 40,000 miles ago.

Actuator is on the passenger side rear of the front diff, you can see it without taking the skids off.