Your Transfer case has a clutch in it that enables the shift into 4Hi without that noise.
Yours isn't working!
You'll find that when you shift to 4Hi, 12v power should be applied to the BROWN wire going into the transfer case. If that power is not present (truck only needs to have the key in Run for this test, not engine running), you should replace the Electric Shift Relay which is located inside a plastic relay box on the underside of the DS dash, near the GEM, somwhat left of center dash area. It will be a small 6" or so plastic box, taped shut, buried up in the dash.
I found that relay box by laying on the floor looking up, head by the gas pedal, looking toward the GEM (which if you remove the radio surround bezel, you'll see the GEM on the left side in there). It also contains the Battery Saver relay which shuts off your power to the PW after 30 sec if you don't open the door and turns off the Dome light if your door is left open. If you don't have power windows, you won't have the Battery Saver relay if I recall correctly. But the Electric Shift relay should still be in there.
Welcome to The Ranger Station!
If you decide you need more info, send me a Private Message (click on my Username and a menu appears) and include your E-Mail address so I can send you a big file of 2000 Schematics and location diagrams. (You really do want these if you plan to keep or modify your truck)
This offer for EVTM data is open to anyone reading this (make sure you put 2000 in your message) and I also have it for 1993 (same offer stands, just put 93).
Welcome to The Ranger Station!