You didn't say what year or anything else about your truck next to "taco", so I am going to assume it's a vacuum type. Two things need to happen to shift into 4x4. The transfer case needs to shift, and the front diff needs to engage. The transfer case is done by the handle, and the diff by vacuum. Two vacuum lines run down to the diff. If they are broken or cracked, then it will not shift. Check them like you would check for any vacuum leak.
Now if you have a really new taco, do you know 4x4 is engaged by pushing the button on the side of the lever? Might want to look for that. (IMG:
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