Stuck in 4L

Truck became stuck in 4L, after switching for a very short time. Went to go back into 2hi and it wouldn't shift back. Tried disconnecting the battery, and reconnecting after 10 minutes. Checked the 4wd fuse and the atc fuse. All the wiring is dirty, but not corroded or damaged. The ground under the driver side door has been cleaned and reconnected.

When I try and rock it from D to R to N and back, while pressing 2HI, I believe I can hear the Motor attempting to shift. But it won't shift all together. Sometimes the light stays on for 2HI, but still isn't engaged. Until the "Service 4x4" message appears.

Do you think it's the transfer case, considering the age of the truck? Or is the motor shot? Is it worth replacing the Encoder Motor before servicing the Transfer Case?

Also, maybe it's the front actuator? Thanks in advance.