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94 was the last year for the auto hubs (95 changed to the vacuum motor on the front axle). The auto hubs on the Ranger/Explorer/Aerostar vehicles were notorious for breaking or shearing the gear that attaches them to the axle shaft. The motor that drives the transfer case is also notorious for seizing or incomplete shifting.
There's a very easy test you can do. With the front wheels on the ground, spin the drive shaft to the front axle clockwise (as you look at the yoke on the front axle). Within 2 complete turns, the hubs should engage and prevent you from spinning the drive shaft any further. If you can spin the drive shaft without the hubs locking, try spinning the drive shaft in the other direction.
If the hubs don't lock, then you've found your problem. If the hubs *DO* lock, then the problem is probably with the shifter motor for the transfer case.
Make sure that when the hubs lock, that spinning the driveshaft turns the wheels going forward, not backward (which would indicate that the hubs were swapped side to side and that is why they won't lock going forward). The hubs will unlock automatically when the wheel spins in the opposite direction (if the hub drives the wheel forward, it will unlock when the wheel spins backwards and vice versa).
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