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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.

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Q: Can you drive a 1986 Toyota 4Runner with hubs in lock position but not engaged in 4x4 mode?
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