Hassle and Worry

Bought our Taco Off Road to haul our camper and be able to go down some rough roads without too much worry. There are months when I don't need to drive it at all. My problem is I have this in the manual:
"
■Four-wheel drive usage frequency

You should drive in four-wheel drive for at least 10 miles (16 km) each month.

This will assure that the front drive components are lubricated."
I don't live close to any unpaved roads other than my driveway. Do you think it's ok to drive our 4WD on fairly straight paved roads in 4WH? I wonder why 10 miles is the length required? I may be wrong but I would think that once the gears spun a few times that would be enough to lubricate them, but apparently Toyota doesn't think so. Any advice would be appreciated.

 

Welcome to TW…Driving on pavement in 4wd won’t hurt anything, just don’t make any sharp turns. I wouldn’t worry about the 10 miles either, just enough to get everything lubricated.

 

Welcome to TacomaWorld
What @buckhuntin-tacoma said ^^^