I’d recommend you do a search on here of independent wheel ends, IDE. Get your Google on, watch a little YouTube on ire’s. I’ve same vintage, similar drivability issues, it appears to be a pretty common thing with Fords. My particular issue was moisture getting into the tubes, gravity taking it to the IWE’s and the guts, springs that slide the engaging splines/ sleeve all rusted and cracked. if you wrench a little on the side it’s a pretty easy task to DYI. The only hiccup I had was not owning a torque wrench with enough capacity to re-torque the lower shock mounting bolt. Lots of internet how to’s on this issue. in short the vacuum system on your vehicle holds your IDW’s in the retracted, 2wd mode. When you call for 4wd a solenoid opens and bleeds the vac, springs in the IWE allow the sleeve to couple your drive hub and rotating front wheel drive shaft. Any issue w any of the parts throws a wrench in the works. I’ve seen lots of great posts on here on how to efficiently troubleshoot. Or, take it shop and support your local mechanic.