Heres the deal folks...
It is OK to shift on the fly as the control unit will not activate the actuator until the speedo reads 18 mph or less.
The control unit must sense movement to change into 4WD...FWD. or RVRS.It will change into 2WD witout movement.
The control unit has an AUTOMATIC RETRY until engagement/disengagement is achieved,This is the time lag you people speak of.
In the front differential there is a coupler with dogs cut into it (similar to m/c transmission),these dogs dont always align immediately,dependant on vehicle speed & actuator speed.The actuator moves this coupler forward & back on the splined pinion shaft to engage/disengage 4WD.
If your machine does not engage/disengage 4WD at all....Take it to your dealer & get it fixed.
Hope this helps.

Have fun....Ride hard

 

thanks everyone, went riding today and switched back and forth a few times. and only to a few seconds, guess it was me just getting worked up over nothing...

thanks again