I have a 2010 SR5 and will run it on pavement as needed. I think if you use common sense and stray from sharp turns/donuts you are fine. The manual is very vague to say the least. I am very familar with the 4th gen, and this is different than the Torsen setup. but also guys I ran alot of 4wheel stuff in military and its fine, and it does last in 4high long as you take it easy on turning real sharp.
I can say I liked the torsen better, always on, no issues, 4wheel there for the Non user, read "ladies", and no fuss.
My 99 Limited is nice, basically the same as the 4th Gen V8s. very user friendly. I wish the new 2010 sitting beside it in the garage had the exact same setup, but it doesnt.
My wife told me that she would have had no issues switching back and forth between 4wd and 2wd when needed. 2 Days later I got in the Armada and it had the 4wd set when there was no snow on the road she took to get to the house and it has a sharp turn into our garage..... Yeah we got the Limited 4Runner......