I had a similiar problem with my '01. My problem was the entire wire harness that connects under the driver's side seat (underneath the truck) was corroded and therefore no power to the 4x4 shift motor and no 4wd hi/lo. Sorry to be the bearer of bad news, because this repair was not cheap.
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2001 Extended cab Edge, 4x4, 4.0, 4.10 gears, 3" PA body lift, Heartthrob dual exhaust, Roush Thunderbolt signal mirrors, 8000k hid head/foglights, Mountaineer leather buckets, Xplorer shorty console, Alpine 9856 receiver, 10" type r sub in ported box, air box mod, throttle cable mod, Rancho R5000 shox, Scangauge II, plus many other things...
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