Shift motors last/work longer if you use them at least once a month.
You don't have to drive in 4WD high or low, but if you shift transfer case from 2WD to 4WD and 4WD low once a month it will keep the armature and brushes clean.
General failure is when you go to use it the first time after 6 to 8 months of disuse and the brushes are not in good contact with armature so no power in the motor and no shift.
If you tap on the motor's case it will usually start working again but needs to be pulled and cleaned at that point.
Good read here on the shift motor:
http://www.therangerstation.com/tech_library/TCaseshiftmotor.shtml
There is also The Shiftster that can be used in place of the motor, you do have to climb under truck to use it, but no guessing if you will have 4WD or not, lol.
http://www.theshiftster.com/
But you also have PVH auto hubs so.........you might still be guessing/hopeing
http://www.therangerstation.com/Magazine/Apr04/offroad.htm