4lo with ABS light is on?

It sounds like the transferase actuator got damaged which is common, but to be sure we should do a CAN scan and see what codes come up. The ABS light will come on if any of the systems are not working. You can get a CAN scanner (Controller Area Network) from Amazon.

Here is a video to show you how:

https://youtu.be/u-4syLc-ifQ

and

https://www.2carpros.com/articles/can-scan-controller-area-network-easy

Here is one for about $99.00 if you need it:

https://amzn.to/3ZixY4v

This can tell us for sure what's going on. Here is how to change out the actuator motor in case you need it. Check out the images (below). Let us know what happens and please upload pictures or videos of the problem so we can see what's going on.