pull the electronic shift motor out. Once you have it pulled, you will need to open it up and do a thorough cleaning. I had the same problem and now it works excellent. Here is a link which breaks it down for you ....
http://www.therangerstation.com/tech_li ... tmotor.htm
Be careful though .... I tried to open the blue cap and snapped off one of the bolts, so I left it alone. I did everything else and it works. A buddy of mine did the same thing ... snapped one of the bolts for the blue cover and he too left that alone and did everything else.
I think the main issue with these, is the amount of crud that builds up on the brass and there is no longer any contact. Clean it up and you will be 4 wheeling in no time ... 1 hour tops.