Yes you can. Its actually good to do so once in a while to keep the hubs lubricated. 10 or 20 miles every few months should do the trick. I used mine for offroading, and I would simply lock in the hubs at the start of a trail and just engage the 4x4 when I needed it.
4 runner means four wheel drive. If the 4runner is only two wheel drive or the 4 wheel drive is not engaged, the rear wheels power the vehicle.
The 2014 Toyota 4Runner has rear wheel drive.
The 2013 Toyota 4Runner has rear wheel drive.
The 2009 Toyota 4Runner has rear wheel drive.
The 2010 Toyota 4Runner has rear wheel drive.
The 2012 Toyota 4Runner has rear wheel drive.
The 2007 Toyota 4Runner has rear wheel drive.
The 2004 Toyota 4Runner has rear wheel drive.
The 2002 Toyota 4Runner has rear wheel drive.
The 2003 Toyota 4Runner has rear wheel drive.
The 2011 Toyota 4Runner has rear wheel drive.
The 2005 Toyota 4Runner has rear wheel drive.