How are you switching from 4H to 4L because it sounds like you aren't coming completely out of 4L? The old school way that I was taught is to put the transmission in neutral, shift into (or out of) 4L (or 4H) then put the transmission in reverse and back up a few feet. After that drop the trans into drive and go about your day. I think the theory is that reversing after switching to/from 4H/4L allows the gears to mesh up properly. Don't know if that's true or not, but it hasn't failed me yet. At the very least the transmission should be in neutral when you switch 4H/4L.
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