Usually I have to back up a few times while turning the wheel to get it to disengage. But yes I turn it to 4X4 Hi then to 2Hi not directly to 2Hi; this all happens while I am in neutral with the brake applied. After getting it to 2Hi I usually proceed in driving back and forth waiting for it to disengage. The whole process does take about 1-2 minutes. However when in 4Lo it operates just fine with the tires never slipping. I love the four wheel drive in it, but the disengaging part does have me a bit suspicious of a bad motor as mikerider stated.
-2011 F-150 Lariat: 5.0 "Coyote" V8, 6-spd Auto (6R80E), 3.73 ELocker. White Platinum Metallic Tri-coat.
-1992 Ford Ranger: 4.0L OHV, 5spd (M5OD-R1), 3.27 Open.