There is an 8mm bolt going through the crosspin that needs to be removed first. After you do that slide the crosspin out and push the axle shafts in and the c-clips should pop right off.
There is no vaccum for the 4WD, it is electronically operated by the shift motor. I suggest checking that the shift motor on the transfer case is actually working. There is a write up in the tech library about servicing it. Look here...
Not to sound rude or anything but are you making sure they are tight enough? I only had my driveshaft come loose once (bolts backed out a couple turns at most) and I'm pretty sure I just didn't put enough muscle into it. I always make sure they are tight now whenever I take it out and haven't...
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