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It sounds as though you may have a vacuum leak that is preventing the hubs from locking in the 'auto' mode. Try this, take the truck out on some dirt(gravel, dirt road) with the truck rolling and see if they will lock. If they do, you may not have a problem. Like the guys stated, the truck must be in motion for them to lock in auto. If you're stuck, then you need to lock them. Good luck.
'01 Ex Limited 4x4 7.3L BLACK, Diablo Chipped, ProComp shocks, Rancho Stabilizer, Hellwig swaybar, V code fronts, B code rears
2013 F350 DRW CC 4x4 6.7L Lariat,TriCoat Metallic, X-Liner, B&W Turnover w/ Companion, Edge CTS, Viair 1007 Onboard Air System with Firestone Ride-Rites
2012 Sandpiper 365 SAQ weighing in at 15k.