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We bought a new 2023 4Runner about a year and a half ago; owner's manual says put in 4WD and drive for 10 miles every month.One thing a lot of people forget about with 4WD vehicles that are primarily city cars is to shift into 4WD and drive a bit every month or two. The manual has an interval and number of miles figured. Remember to lock any differentials (yours should have the center and rear lock).
My wife had a 2008 4Runner that was always picky about going into 4WD and our mechanic told us it was because the previous owner of 130k miles probably never used the 4WD. Her dad drives it now and he never uses the 4WD and the last time I tried it wouldn't go into 4WD no matter what I tried.
A good habit is to run it in 4 high whenever you're on a gravel road. It's better for your tires and better for the road.We bought a new 2023 4Runner about a year and a half ago; owner's manual says put in 4WD and drive for 10 miles every month.