There are a couple of different ways to do it ...
My car is one of the early ones with a separate 4WD controller in the driver's side foot well - that would be the easiest place for me - easiest to not get into trouble, but it'll take some degree of twist & contortion.
Later models, and I suspect yours will be one of them, have the controller integrated into the ECM/PCM and I would not want to be cutting & splicing wires near that - too easy to get confused - the dash is not that hard to pull, and if I were doing it on a later model, I would probably pull the dash, splice a wire into the dash harness and then fish that through and connect it to the transfer case switch.
I just had a look at the XL-7 wiring diagram and confirmed the black/orange & orange/black wire colors - BUT - there are multiple separate circuits using those colors at the PCM confirming that it's not a good idea to poke around there.
On second thoughts - on the later models - the easiest way is to jumper the red wire to the pink wire at the air pump connector.