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Greetings,a friend of mine has a 06 Ram 250 4x4 with automatic he asked me if he could shift on the fly from 2wheel drive to 4wheel drive, I do not do it with mine 01 3500 but I did not know about2006 models.
Yes it is ok to shift on the fly. 2wd to 4hi or 4hi to 2wd can shift up to 55mph. Let off the accelerator after shifting and it will lock into place or unlock. Shifting to 4lo should not be done faster than a crawl. Owners manual has instructions for 4wd shifting I believe.
I have shifted around 70 or so once or twice. No problems. Not really recommended, but Ive done it. I cant remember the situation that led me to shift at that speed. You can on your 01 too...