Do you have lockout hubs? With the hubs engaged you don't need to put the T/C in 4wd to move the lube around in the diff or the knuckles, the axles and diff gears will move with the wheels.
If you don't have lockout hubs you are moving the lube all the time when you drive, once again, no need for the T/C to be in 4wd.
I don't think 4wd on dry pavement is ever a good idea, even briefly.
modern full-time 4wd vehicles have some sort of center differential that allows the 4wd to be used on pavement