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i just took my 2002 bravada into the shop and had a friend look at it and he hooked it up to the computer and said that the transfer case encoder motor was bad. its the mechanism that switches it from 2wd to awd. i will be doing it myself. its an easy fix but will set you back around 150$ its a few bolts and a plug. it mounts onto the back of your transfer case. good luck.
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