No, I've never done that to my truck. Just how steep is your driveway that you need 4x4 to get out of it? I'm guessing you were just playing with your new truck so hey, it happens.
I doubt you did any real damage to it, just don't make a habit of doing this.
Long term damage? Well, that one is going to be tough to call. Did you notice your truck bucking around sharp corners? Like making a right at an intersection? Even still, your truck is new and under warrenty. I'd just omit mentioning this boo-boo if something does go south as a result.