eta: short answer to your question, yes, I'd bet your windshield wiper t-case servo is on the fritz. the below, do it both into and out of 4wd, will help you figure it out. Mind you that wo any drag on the parts it may shift into and out of 4wd easily. In that case, find the manual override on the selector shaft and try it with it on flat ground.
Don't RUN YOURSELF OVER!
Should be easy enough to find out. jack up all fours, you might want to set the parking brake also.
With the vehicle in park 2wd, can you freely turn the front drive shaft? I hope so.
Do the front wheels turn mechanically with the shaft?
-if yes then you have no central axle disconnect or you do and it's jammed 'on'
-if no then you have a central axle disconnect that isn't engaged, which is fine
Now turn the key to run (or start the car if you're feeling tough, leave it in park!) and put the thing in 4hi
Now the front shaft should be locked with the back shaft and in park you shouldn't be able to turn it
If you had a central disconnect it should have also locked up
If the shaft is locked but the wheels still spin free then you have a central disconnect issue
You should be able to figure out your woes from that hit list, if not let us know.
Don't know why the Mfg's had to screw up a 100% reliable mechanical system with this trash.