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Technically they want you to be sitting still to engage/disengage the MFWD. This sometime won't work like it should and will require some movement. I just kind of easy off the clutch slowly enough to get it to start moving forward while at the same time pulling or pushing on the lever and it will engage/disengage.

If you have the FEL attached all you have to do is to lift the front wheel off the ground with the loader and it should engage/disengage with no issue. The reason you have a hard time getting it in or out of the MFWD is because of the weight being placed on the front axle. Lifting the wheels off the ground relieves that pressure.
 
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