Dake21
Adventurer
Could be wrong, but I believe all electronically shifted transfer cases need the transmission in neutral as well before going from 4Hi to 4Lo (Range Rovers are the only exception I know of). Internally they're the same, just a motor shifting instead of hand lever, and neither can shift with the transmission in gear, putting torque on the input shaft.
I confirm that with my grand vitara I need to be in N before shifting.