I have a 2002 Ram 1500 5.9. It is 4X4 with the floor manual shift. Currently when Im in 2wd and accelerate, once i get above 5mpg's something starts to grind. So to drive I have to put it in 4wd high and it drive without the noise. But it seems to still be in 2wd because the steering is normal rather than the skipping you usually get when turning in 4wd. Does anyone have any ideas?

 

Have you checked your transfer case fluid?

 

Sounds like your transfer case linkage is a little out of adjustment. You might get under it and have someone pull it from 4wd high to neutral then to 2wd and see if the linkage is throwing the ears to the right position or possibly they've loosened up and aren't throwing as far as they should. definitely check it out. Driving around in 4wd on pavement is very bad for the drivetrain.