P2772 Code (2nd Gen)

I tried to engage 4HI with my tundra yesterday, everything was good , then i tried to engage 4LO , the 4LO light went on but it didn't really went for 4LO , and when the rpm goes more than 3000 rpm , the VSC and check engine goes on , and it gives P2772 code in OBD (Four Wheel Drive (4WD) Low Switch Circuit Range/Performance.)
does anyone know about this code and what to do ?

 

What procedure are you using to shift to 4LO?

 

put the car on neutral and then push the switch from 4HI to 4LO

 

You should get some clank clunk when you do that. If you don't hear that, the actuator may be stuck. If you go back and forth from 4HI to 4LO and back again slowly, you may be able to get it to unstick.