1994 Ford Explorer 4X4 troubles

I am assuming you are refering to the atomatic lockout hubs. If this is the case remove the wheels and remove the hub. You can then remove all the "innerds" of the hub and reinstall on the vehicle. Doing so will allow the vehicle to be driveable but obviously you will lose 4x4 mode.

If u don't want to lose your 4x4 capibility with winter coming up I would replace the hubs with new or used ones, it sounds like they are worn and do not engage completely