Most common issues with ESOF not engaging (Just fixed mine):
-vacuum hose going from frame to hubs. Just replace the vacuum hose going to the hubs (its cheap like $4).
-leak at HVAC box - gray line popped off
-PVH solenoid valve not operating - replace. this is what my problem was.
What I started with was first make sure my vacuum pump was working, disconnected gray line going into HVAC box, yep had vacuum. Then I flipped with ESOF to 4x4 and quickly disconnected the vacuum line going to the hubs (right by passenger battery) and you should have vacuum going down there. If not then it is most likely the PVH solenoid. Make sure there is vacuum going to this (red tubing). Make sure there is 12 volts going to it (center wire). The two outer wires are grounding wires that complete the circuit for the center wire.
what helped me was watching 3 you tube vidoes on diagnosing ESOF not working. The one created by the factory ford mechanic was the best. That narrowed me down to the PVH solenoid not working and had to replace that.