You should have NP208 T-case, unless someone has swapped it.
You can "shift on the fly" from 2WD to 4-Hi, although I don't do it at high speed. Just shift it while rolling.
To go from 4Hi to 4-Lo, put the trans in Neutral, then in one motion pull the T-case lever from 4Hi, past N, to 4Lo. (I think you have to move the lever over towards the passenger side before doing this) Let your foot off the brake when doing this, so that the truck can move a little to help the gears line up in the T-case. If it won't go, roll forward very slowly with the trans in Neutral.
It doesn't matter much if your hubs are locked or not, but you should not shift from 2WD to 4Hi at any speed more than a roll if the hubs are not locked. This is because unless the hubs are locked, the front D-shaft is not spinning when in 2WD, and when you try to pull into 4Hi, the gears in the T-case will be at significantly different speeds if you are driving.
I hardly ever lock my hubs unless I'm on a hard trail. I shift into 4WD Lo without the hubs locked all the time at my house to make it easier to back up to a trailer, drive slow through a field, etc. At those times I don't need the 4WD, I just need the low range.
To get from 4Hi to 2WD, just shift the lever at whatever speed you're going. To get out of 4Lo, put the trans in Neutral and shift to 4Hi, and then 2Hi if you want. If the T-case "binds" and won't shift, make sure your wheels are straight, and slowly roll forward or backward a little while trying to shift it. Unlocking your hubs can also help.
Hope this helps!
Richard