I believe the Toyota Tundras prior to 2007 were push button 4x4, which in that case can be shifting from 2WD to 4WD high range on the fly (or while moving) I believe the shift can be done at speeds up to 55MPH but if your in a location that requires 4WD you probably shouldn't be driving 55MPH anyhow. A shift from 2WD to 4WD Low range requires the vehicle to be completely stopped, transmission shifted to neutral and then engage the 4WD low range which I believe you have to engage 4WD high range first, let it completely engage and then select low range mode.
I have never driven a Toyota Tundra first generation model, so I don't know the exact procedures, however the above that I described is how most 4WD systems work that are electronic.
Good luck and be safe on your trip.
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