4th generation 4Runner 4low stuck

I'm 50 years old and I've owned Toyota 4x4 trucks since I was 17 with exception of a bad azz 1st generation mr2. Anyway I currently have a 03 4Runner v6 and it's stuck in 4low for no reason. It happened after a diagnostic test when he unplugged the adapter. There are more lights that came on too but this is the most concerning. This is the first v6 I've ever owned too. I'm partial to the 4 cylinders. Solutions?

 

Just had this issue on mine,
The video i linked in my post helped be get back on the road.
https://www.4runners.com/threads/stuck-in-4lo.43727/#post-700212