According to the owner manual, you can change the 4WD mode any time as long as the speed of the car does not exceed 75 mph (120 km/h). Look at page 342 of the manual. 4WD Low however, is enabled with the car stationary.
Agree with Arild on what the manual says. Guess I am just old school that as a rule of thumb is to be stopped. I read manual now twice but a bit scared to do it on the move.
As long as the system itself at speed is automatically changing between FWD and 4WD as needed, I would not be too worried about doing the switch myself.
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