No significant driving in low range is necessary or advised by the owners manual.

The 10 miles per month advised in the manual is for lubricating the front drive components. It only applies to the V6 multi-mode.

This thread is about the transfer case low range and diff lock actuators which the owners manual doesn't address, but history has shown to be important.

For V6 4wd owners, the act of going into and out of 4wd, all by itself, exercises the diff lock actuator (it finishes unlocked). All that is needed is to stop at some point and put the truck into low range.

Whether there is any possible benefit to doing a little driving while in low range or also engaging the V6 diff lock via button (instead of just using 4wd), I can't say, other than the fact that more is better (with quickly diminishing returns). Perhaps @BlackWorksInc has some input on that.