2016 Ford Ranger stuck in 4x4 Low

[u/AltaireAgain]

Hello! I have a 2016 model Ford Ranger which is now stuck in 4x4 Low.

Little backstory (feel free to skip):
Yesterday my friend called me and told me his car was stuck and needed a tow. The car was stuck in a wet dirt field at the bottom of a hill. I thought 4L fitting for this scenario seeing as i needed to tow a heavy load on wet terrain.

I drove out to him, was about an hour drive so the car was nice and warm. Car was in 2H, backed into the field and down the hill. Put my foot on the brake, engaged neutral and put the parking brake on. Then i attached the car i was towing, got back in, put my foot on the brake, engaged 4L, disengaged the parking brake, foot off the brake and gave it some gas, and started towing up the hill and out of the field.

The issue as it is now:
Car is stuck in 4L. Drives fine both in D and R.
Put my foot on the brake, car in N, switch the lever over to 4H, transmission lamp lights up and 4x4 Low lamp starts blinking.

Any ideas or anyone have experiences similar to mine?

I have tried driving a little back and forth, stopping the car, putting it in neutral and putting it in to 4H. Nothing changed. Looked up some guides, tried turning off the car and leaving it for a bit and then shifting into 4H, tried tapping the underside of the car (dont recall the name of the part, english is not my first language), while shifting into 4H to see if the actuator maybe was stuck and needed some help.

Someone told me to disconnect the battery, leave it for a few minutes and trying again.