I'm not a fan of this technology. I know it's been around a while, and they've probably figured it out by now, but it just seems like an unnecessary risk. Shifting out of 4wd while moving, I can understand. And that doesn't seem like a risk of tearing anything up. My admittedly limited knowledge of mechanics and such just says if you have gears that are already moving and you try to engage them, it's just going to cause more wear.