Respecfully - No. I'm not. I'm not just a web wheeler. I completely understand the part time 4wd system. I have a degree in physics. I've also broken transfer case shafts and built transfer cases from parts. 40" tires and low gears is hard on drivelines. Even then I can drive circles all day with the front and rear locked up in my fj40 without worry. Tires on asphalt simply cannot generate the friction that a bouncing wide open throttle run through a rock ledge can. Not even remotely close. If you can't at least do that, the vehicle has no business going offroad. Hell, a Honda accord can do a front dig without breaking axles.
I'm 100% fully aware of what's inside our transfer cases, how the shafts and chain drive operates. I understand that there will be scrub in turns, and it will put more force on certain driveline components. However IT WILL NOT CAUSE DAMAGE. Not only can I get away with it, I can drive in 4hi for the rest of the life of my 4unner and not have significant issues with driveline failure. Yes it will wear out tires faster. Yes it will get worse mpg. It might wear out ujoints faster? Otherwise, it's not really going to have any noticeable effect.
This issue isn't a close call. It's kinda silly that we're still arguing about it. Yes the best practice is to use 4x4 when you need it, and leave it in 2wd when you don't, but no it's not going to hurt a thing to drive on pavement in 4x4. Not for 10 miles. Not for 10,000 miles.