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2000 Xj classic 4x4 shifting issue

You are pushing it over to the right, aren't you? It doesn't go straight back into 4-low, the shift pattern requires that the lever be moved to the right to get to 4-low.
 
A broken or rusty shift mechanism, failed bushings, incorrect lever adjustment.

What do you find when you crawl under and inspect the shifter mechanism ?
 
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