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4 wheel drive will not engage front drive shaft is turning has auto hubs on it any trouble shooting info will help

we have a 1996 toyota camry it has about 197,000 miles. We have had the fluids flushed, but it is shifting hard not slipping but it when it does shifts really hard. what could be the problem?? oh and this just happend over night it was not a gradual process. it is a 4 cylinder automatic