OK, T-shift I know.
Shifter bushings. Those get sloppy.
The shifter lock plate may be out of adjustment (and/or bushings) hitting the end of the travel in the lockplate before you get into 4HI
Body lift/trans swap will often leave the shifter in the wrong place and the hole in the body doesn't give clearance for the shifter.
You should note that the D20 is an all gear non-synco transfer case. Nothing you can do to it will change that. Being so it has an issue shifting into and out of 4WD (both high and low range) where if the gears inside are not lined up, it doesn't want to go into 4WD and if there is pressure on the gears (bound front to rear) it won't want to shift out of 4WD. When that happens just give firm steady pressure on the shifter and drive slowly. Sometimes when shifting out of 4WD you may need to stop and reverse direction while holding pressure. My preference if rolling is to shift out by holding pressure and giving a little "blip" of the throttle. That is enough to unload the bind and shift into 2WD (high or low) then get to where I want to be.