If your 'Runner is MY '98 or earlier, it has no center differential.
If you drive on a surface with substantial traction, even damp pavement, the drive train will bind when turning, as the front and rear wheels travel different paths and need to rotate at different speeds. With no center diff, this has to occur through wheel slippage. This can damage the drive train.
For this reason, vehicles w/o a center diff are said to have "part time" 4WD. You need to limit 4WD use to slippery roads or dirt, where wheel slip can occur without damaging things.