Had the same problem on my 2000 pathfinder...
Hello,
I had a similar problem on my 2000 pathfinder se, 4wd would have a hard time engaging and disengaging.
The problem ended up being damaged drive shafts in the front wheels. Both of them had torn boots @ cv joints & this seemed to have led to this problem. After the drive shafts were replaced the problem went away. This cost me 300 bucks.
I hope i am using the proper terms, i may not be.
Hope it helps.
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