THat is quite a small difference but enough to cause a problem if you lock in 4hi on hte pavement. It doesnt take much at all to bind up a 4wd, manual or electric, the problem is figuring out how to release the pressure on the driveline enough for the motor to be able to kick it out of 4wheel. My ranger I just back up 3-4 ft, in my humvee in iraq I would gun the gas and then hit hte brakes real hard while shifting. Whatever works, THe principles of this arent that difficult. you can always put it up on 4 jack stands and then should have absolutely no pressure on the driveline, put it in drive at idle speed and shift in and out and see hwat happen, if it still does the intermittent thing its a computer issue.
The transfer case is designed to be shift on the fly, but not above 20mph and in 4hi only, 4lo still requires full stop and tranny in nuetral.(99 percent of the time) If your still convinced its a motor issue, try the transfer case electronic motor cleaning article in the tech section.