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Is it manual 5 speed or auto?
Toyota have a similar system on all vehicles for selecting 4WD.
Look at the front hubs. Do they have a knob to turn that has "LOCK" and "FREE" marked on it?
If they do, then you need to first of all turn both knobs to "LOCK" position.
Then, in the cab, you will either find a second gear selector lever that engages 4WD, or possibly a button on the dash that says "4WD".
It is also possible that your van is "permanent" 4WD - in which case there will be no buttons or levers - it is in 4WD all the time.
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