A 4D multimaterial soft actuator (MMSA) is developed that can be triggered by multiple stimuli (pH and temperature) for precise spatiotemporal control. The actuator consists of a hydrophilic pH-sensitive hydrogel layer and a hydrophobic shape-memory polymer layer. The hydrogel responds to pH changes, while the shape-memory polymer deforms until triggered by temperature or light. The combination of these layers enables controlled actuation. The MMSA is fabricated using 3D printing, with a masked stereolithography (mSLA) method to assemble the layers. A single adhesive layer bonds the two materials via covalent and non-covalent interactions. The actuator is tested in various scenarios, including cargo capture and release, demonstrating its ability to perform precise spatial and temporal control. The MMSA's design allows for multifunctional soft devices with potential applications in biomedical and environmental engineering. The actuator's performance is validated through experiments showing its ability to respond to dual stimuli (pH and temperature) and achieve controlled actuation. The study highlights the potential of 4D multimaterial printing for developing soft actuators with advanced control capabilities.A 4D multimaterial soft actuator (MMSA) is developed that can be triggered by multiple stimuli (pH and temperature) for precise spatiotemporal control. The actuator consists of a hydrophilic pH-sensitive hydrogel layer and a hydrophobic shape-memory polymer layer. The hydrogel responds to pH changes, while the shape-memory polymer deforms until triggered by temperature or light. The combination of these layers enables controlled actuation. The MMSA is fabricated using 3D printing, with a masked stereolithography (mSLA) method to assemble the layers. A single adhesive layer bonds the two materials via covalent and non-covalent interactions. The actuator is tested in various scenarios, including cargo capture and release, demonstrating its ability to perform precise spatial and temporal control. The MMSA's design allows for multifunctional soft devices with potential applications in biomedical and environmental engineering. The actuator's performance is validated through experiments showing its ability to respond to dual stimuli (pH and temperature) and achieve controlled actuation. The study highlights the potential of 4D multimaterial printing for developing soft actuators with advanced control capabilities.