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No, you don't have to. Many 4 wheel drives that were made before gas mileage was an issue had constant unlocking hubs so the front axle drove all the time. The only reason you would want to unlock your hubs would be to improve gas mileage as wear and tear is really not an issue. Some people lock their hubs in all winter long and unlock in the spring.

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Q: Should you unlock your front hubs while driving in 2WD?
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