2004 fourtrax at 4×4 not working

Hey all
Should of checked to make sure all was well with the old girl before needing her for the up coming long weekend. So everything was cherry before putting her to sleep for our long winter. Was just changing oil, plug ect and noticed the front wheels aren’t engaging while 4×4 is selected. 4×4 light switches on just no drive. I was told it could be a low battery, so replaced with a new yuasa one. Couldn’t be that easy. If I unplug the angle sensor it throws the esp code, plug back in and it’s fine. It is throwing 5 neutral blinks though if that makes any sense? The front propeller shaft spins with no noise. If I pry the shaft into motor while being in 4×4 the front wheels do engage?
Any help is appreciated
Thanks