4 weel high jerky

I've done that on my Taco 4x4, Isuzu Rodeo 4x4 and 4Runner 4x4. All those vehicles drives normally on dry staight pavement below 50 mph. If yours doesn't I recommend to check you 4x4 - there is something wrong wit it.

 

I've had to drive mine in 4 high on pavement and I forgot I was in 4x4 it was smooth.

 

I've had it in 4hi on my 98 4x4 on snowy, icy roads. Never jerks. Only binds if you use it on dry pavement like others have said and with a part time xfer case this is a no-no. I've even driven on the interstate under 60 with my 4x4 and hubs engaged and it rides nice and straight with no problems. This is in the snow of course.

 

Something is wrong with your truck then

 

I engage my 4wd and drive it a few miles every month as the manual recommends. I have never noted any issue while driving straight or even on slowly winding roads. Yes taking 90 degree turns or in a parking lot it would bind.
And if driving in a straigt line with your "driving style" requires you steer... something is wrong. Your truck should go straight.