This thread might help if you have any doubts about being able to do it on pavement.
http://www.toyota-4runner.org/5th-gen-t4rs/133871-using-part-time-4wd-dry-pavement-te-sr5.html
Thanks for the link. If I read correctly... I can basically use 4Hi on dry pavement if I am driving straight without taking any tight corners? I just want to do it to keep my system lubed for the 10 miles a month. Furthermore I know I should do it at a speed of under 62 MPH according to the owners manual correct? Or can I skip the 10 miles a month thing and just use it during our brutal Iowa winters?