Transfer case issue
 

Not sure if I’m posting this in the correct place but here goes.
2021 Ranger 4x4
Driving down the street at about 60 and the transfer case decided to pop into 4Lo. After panicking and hearing lots of bad noises I got the truck turned around and to a safe spot. The selector was flashing between 4Lo and 4Hi. Would not let me shift to 2wd.
lots of messages on dash, I shut the truck off and on a couple times with the same issue. Shut it off for about 2 or 3 minutes and then it allowed me to shift to 2wd. Drove home, about 10 minutes. Tried all the modes and moving the truck thru the modes with no problem. Also, according to my son and son in-law this happened to them a couple times when they had the truck out on service calls for our business. Once in the dirt at a low speed in 4Hi and once in the In and out drive thru.
it’s at the dealer now but they can’t find anything wrong. HELP.
I’m not driving the truck again. We regularly tow a trailer 2000- 6500#s.Can’t imagine this happening on the freeway with a trailer.