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Do you have a Shift OnThe Fly or Manual transfer case?
Im not a 4wd expert but my understanding is as follows;
SOTF have Auto and Lock (no unlock or free) position in which case the hub will engage in either position. If you have this setup it maybe your hubs are no longr functioning correctley which is usuall the case. My truck has this setup and has been reliable until now.
Manual Tcase if memory serves has Lock and Unlock (free).
In either case to pull the "hub" all you need to is pull of the lug nut cover locate the snap ring around hub, remove snap ring, and pull out the hub (a rubber mallet maybe needed to tap is perimeter) . Its all one piece and no other pieces will fall out unless the hub is damaged.
Replacing them with aftermarket or factory is simple and you dont have to remove the wheels.
2002 F-350 CCLB DRW 4X4 7.3/Auto