For what it's worth, I have a 92 V-6 3.0 with an auto tranny and integral transfer case. That means, the transfer case shares and uses the same ATF that the A340H auto tranny uses, for its own lubrication. The tranny and transfer case cannot be separated.
I have both engaged and disengaged the ADD front axle on numerous occasions -- going from 2H to 4H on the fly and back to 2H. I agree with Bilzo about not shifing into 4H at an unreasonably fast speed -- especially if you are on a slippery surface. I have noted no unusual or scary noises coming from the front end or tranny/transfer areas when performing these actions. I 'can' hear the hubs engage when doing this ,, and I can also hear the hubs / axles disengage and eventually stop turning while still moving forward, at speed.
I noted when reading my owner's manual, that Toyota recommends the front axle be engaged for a distance of approximately 10 miles at least once per month. I don't always get that accomplished, but it seems front hubs and axles need to have the internal lubrication moved around on a regular basis.
There are currently 182,000 miles on my 4runner.
Mike in AR