It has to be in neutral to shift. You can not have ANY strain on the driveline. So I'd pull it in neutral and allow it to coast to a stop, then hold the brake and shift it. IIRC, you need the brake switch circuit activated to switch to or from low range. If that does not help and it's still lazy about shifting then I think you'll find that the shift motor is bad. That's a fairly common problem on Ranger's. I've had the motor off of mine now for the better part of two years because of wiring problems... If you find yourself stuck in low range... crawl under it and remove the 3 bolts that hold the motor to the transfer case, pull the motor off and manually turn the shifter screw back to 2H with a vise grip... and drive on.
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