If you have driven full-time 4WD vehicles before, this is the difference that part-time 4WD has. You simply MUST NOT use 4WD when you have reasonable traction, ESPECIALLY when making tight turns. If conditions are such that you can make safe, effective progress in 2WD, use 2WD. Otherwise you risk damage to the driveline from the "binding" that is caused when the front and rear portions are trying to travel at different overall rates during turns and there is no center differential to allow it. Either a tire will break traction (as in snow/ice/dirt/mud) or something will break (pavement, etc.) if there is no other release of this difference.
And uh, read your owner's manual sometime...
Brent