Transmission grinding

I just bought a 2003 Tundra, one-owner, in immaculate shape. I have two questions. Can I shift in and out of 4wd on the fly. The owners manual doesn't specify. I used 4wd once today, shifting while stationary, and now there's a clanking noise that sounds when I move the truck, either forward or backward. It didn't do this before I shifted in 4wd or while I was in 4wd. I only noticed it after I parked it awhile and then went out to drive it.
Any thoughts?
Thanks,
Bruce

 

Yes you can shift to 4WD hi on the fly up to 60. I think the manual will state no higher than that.
Stationary you have to have the transmission in neutral.
I can’t comment on the grinding sound but maybe try putting it in neutral and try shifting into 4 high.. drive straight a couple hundred feet and shift out of 4WD on the fly.

 

Ehhh. I'm not so sure about that. I don't think it has to be in neutral just because you're stopped. It only has to be in neutral before you go into 4LO

 

My first Tundra was an ‘03 4X4 SR5 - GREAT truck!!

You can shift into 4wd on the fly. It will clunk as it engages. It will clunk when you shift back into 2wd.
It should only take about 6 ft or so (1 or 2 wheel revolutions) so to engage or disengage going forward or reverse. Drive it, it should go away.

4Low, truck needs to be stopped in neutral to use as First Gen Vol noted.

Do try to shift into 4wd before you are slipping. It’s a VERY loud clunk that doesn’t sound good at all when the 4wd engages if you are spinning already.