You know you can leave it in 4A (4 wheel auto), right?
That's not the same as 4H (4x4)
And you may have way too much air in the tires.
Out of your manual:
2H (4X2)
For general on-road driving, this mode provides optimal smoothness and fuel economy at high speeds. Sends power to the rear wheels only.
4A (4X4 AUTO)
Provides electronic controlled four-wheel drive with power delivered to the front and rear wheels, as required, for increased traction. This is appropriate for all on-road driving conditions, including dry road surfaces, but is especially useful on wet pavement, snow, dirt, or gravel.
4H (4X4 HIGH)
Provides electronically or mechanically locked four-wheel drive power to both the front and rear wheels for use in off-road or winter conditions such as deep snow, sand or mud. This mode is not for use on dry pavement.
4L (4X4 LOW)
Provides electronically or mechanically locked four-wheel drive power to both the front and rear wheels for use on low traction surfaces, but does so with additional gearing for increased torque multiplication. Intended only for off-road applications such as deep sand, steep grades, or pulling heavy objects. 4L (4X4 low) will not engage while your vehicle is moving above 5 km/h; this is normal and should be no reason for concern. Refer to Shifting to or from 4L (4X4 low) for proper operation.
Shifting between system modes
Note: Momentarily releasing the accelerator pedal while a shift in progress message displays will improve engagement/disengagement performance.
Note: Do not perform this operation if the rear wheels are slipping or while applying the accelerator pedal.
Note: You may hear some noise as the system shifts or engages; this is normal.
You can move the control from 2H to 4A or 4H at a stop or while driving. The information display may display a message indicating a 4X4 shift is in progress. Once the shift is complete the message center will then display the system mode selected.
