Seems like boondocking is the way to go during covid. Went several miles on rough, washboard NFS roads to our campsite. Kept it in four wheel high until we were back on the highway after, then back to...
I had something similar happen with my 2010 2500 Ram. I used 4WD to climb up on leveling blocks. I left it in 4WD by mistake. The next day it did not want to come out of 4WD and it drove really rough. I turned off the engine, restarted, turned the dial back and forth and backed up. All was OK. I never had any problem with 4WD again. Except for that one time it always went in and out ok.