I'm sorry, but that's not correct at all.
madeinhb,
Your 2006 Toyota 4runner has a center (torsen) differential and can be kept in 4X4 year round. You can leave in 4hi with no ill effects, and, further, can drive it at any speed and make full turns without scrubbing the tires.
This is the great beauty of our drive system. Our four wheel drive system allows the inside tires to spin at a different speed compared to the outside tires during a turn. (You can make a very slow, sharp turn whilst engaged in 4hi without experiencing driveline binding).
To ease your worry, let's compare the fourth gens (4Runners made from 2003-2009) with V6's vs V8's:
They are essentially the same exact system, except the V8 is full time four wheel drive (always in 4hi), whereas the V6 has the option of being rear-wheel drive (when the V6 is in two-wheel drive mode, the front drive shaft is not engaged, but it is still spinning, hence why we V6 drivers only experience a very slight drop in MPG when we place our trucks in 4hi).
When the V6 is in 4hi, it is operating exactly like a V8. To repeat, no harm can come from leaving it in 4hi. I, for example, will leave my V6 in 4hi for the duration of winter. The V6 in 4hi and the V8 in standard driving mode are similar to an AWD system like Audi's.
Now, if you lock the center differential, or place the selector in 4lo, then you must be careful. In either of those cases, the truck will act like a more traditional 4X4 system, and you must be driving on a slippery surface.