Your (previous) 1998 Pathfinder and (current) 2006 4Runner have different types of 4WD systems. In your Pathfinder's owner manual, you will find a section that tells you not to drive the Pathfinder in 4WD on dry roads or over 50 MPH. This is because your Pathfinder only has two differentials: a front and rear. If you've ever driven the Pathfinder on dry pavement in 4WD, then you already know the sensation of scrubbing the tires, and feeling of driveline tension.
Your 4Runner has three differentials: a front, a center, and a rear. When you put your 4unner in 4WD by turning the dial from "2H" to "4H," you are leaving all three differentials "open." The benefit of this mode is the fact that you can drive your 4Runner in "4H" all day, any day (regardless of weather conditions) on all road surfaces. You can drive as fast as you want, and turn the steering wheel sharply without scrubbing the tires. It's essentially AWD in this mode. This may seem very strange if you're used to conventional 4X4 systems such as your Parhfinder. I, for example, leave my 4Runner in 4H pretty much all winter, and will put in in 4H even in slight rain in the summer.
The downside of 4H, as you've discovered, is that slipping tires rob traction due to the three open differentials. You can get stuck with just one tire spinning.
When you "lock" the center differential (via the button to the left of the steering wheel) in your 4Runner, you are bypassing the center diff, and thus "4HL" (locked) is the same type of 4X4 as your Pathfinder in 4WD. If you drive your 4Runner in "4HL" on dry pavement, you'll get the same binding sensation that you felt driving your Pathfinder on dry pavement.
With the center locked, your traction will be enhanced because electronic nannies interfere less (there are electronic nannies in the AWD mode that are disabled once the center diff is locked), but moreso because there is one less differential redirecting (robbing) torque to slipping tires. If you want your 4Runner to handle and feel like the Pathfinder, lock that puppy!
Note: Just as you can rotate the dial from 2H to 4H on the fly (with the vehicle in motion), you can lock and unlock the center diff on the fly. You have to be in 4H or 4L (you have to be in 4WD) to lock the center diff. The solid green "4 tire symbol" light is on when your truck is in 4H. When you push the center differential lock button, an amber/yellow light (4 tire symbol with an "x" between the axels) will flash and then turn solid once the center diff is locked, and an amber/yellow "VSC off" light will also appear.