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Driving with your hubs locked in is fine, but do not drive in 4H on dry pavement. If you’re going strait it's not too bad, but if you've got the wheel cranked you will put a lot of stress on the drive line (you may even find your driveline's weakest point).
Better check the owner’s manual on shifting into 4 wheel drive. I can't put my truck into 4H unless I'm going under a certain speed (automatic hubs are nice, but have some down sides on the older trucks). Once I get it into 4H, I can shift in and out of 4H at any speed with no issues as long as I haven't backed up in 2 wheel drive.
Last thing is that many people will say 4 wheel drive will not help you stop when you're on a snow packed or icy road. I always find I have more control stopping, turning, or accelerating when my back wheels are locked to the front wheels. Better control = shorter distant.