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Check the manual. If it's got a shift on the fly button on the right grip, then I'd say you can switch it when ever you want to, but I would likely not do it at full throttle :)
 

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It is a different machine but in my Rhino I can switch it from 2 to 4 at any time, Going from 4 to 2 I have got to almost stop for it to finally release.
 

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My best advice is shift before entering a mud hole that way it has a chance to fully engage and like Jeremiah Johnson said DO NOT do it when the rear wheels are slipping.
 
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