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Sometimes the alarm and/or the indicator light on the dash go off without the CDL having actually been disengaged. Probably, there is not any damage done, just a stubborn bind.
In this thread you will find recommendations about disengaging "stubborn" CDL situations:
http://www.rav4world.com/forums/85-4-1-faults-fixes/186810-4wheel-drive-beeping.html
If you still can't get the differential to unlock, then try to limit your commutes until someone more knowledgeable chimes in and helps you resolve the issue.
In this thread you will find recommendations about disengaging "stubborn" CDL situations:
http://www.rav4world.com/forums/85-4-1-faults-fixes/186810-4wheel-drive-beeping.html
If you still can't get the differential to unlock, then try to limit your commutes until someone more knowledgeable chimes in and helps you resolve the issue.