Here it is in a nut shell. Part time 4x4 like your truck has should not be driven on dry pavement. Here is why. No two wheels turn at the same speed. The difference in speed is more pronounced on a turn. The outside wheels turn in a larger circle so they have to turn faster. When the front wheels are turned so they turn in a different diameter than the rear. With a part time 4x4 system the transfer case locks both the front and rear drive shaft together. They turn at the same speed so something has to slip. It will be the tires. The more friction there is between the tires and the road surface the more they resist slipping. If the tires do not slip the drivetrain will lock up or bind. It will eventually release or something will break or the vehicle will stop moving. When it releases the drivetrain bucks or jerks. Your transfer case uses a chain to turn the front driveshaft. Binding the system will stretch that chain.

I recommend using 4x4 on a regular basis so the contact plates in the shift motor assembly do not corrode. It also, in your case, activates the IWEs in the front halfshafts. Just to familiarize yourself with the system take it off road and run some figure 8's in 4Hi and lo.