4wd 4lo abs trac light on

Hello everyone
I have had three tacomas and a t100. Now have a 2013 tundra rock warrior crew max for about a year now. Love the truck! Bought it w 100000 miles on it and put about 10000 on it so far. Half of those miles are bumpy nv ut dirt roads. No rock crawling. Every so often might put it into 4wd for mud puddle. Just started using 4hi for a few snow storms here. A couple days ago went from 4hi to 2wd and 4wd 4lo started blinking and the abs and trac light came on and would not go off. Did all the normal stop go reverse stuff no results and would not go back into 4 wd. Drove another 30 min w no issues other than lights! Parked it for the weekend then drove it tonight all back to normal. Went into 4wd and out no problems no lights. ??
Spend a lot of time in the middle of nowhere! Any recommendations
Thanks for your time