Actuator troubles (new user)

The 4wd symbol and 4lo symbol were flashing on my 2008 tacoma trd, dropped it off at a shop to have the actuator observed by a retired toyota "master mechanic".

they ended up just changing the part and replacing the 4wd actuator on my front differential because it seemed to have a hole. I believed them in thought that this is what threw the code.

I continue to get the warning light either after 20 mins of driving or some rough bumps in the road. Still pretty random.

I've heard this problem is quite common, some help would be greatly appreciated, Thank you!