I have to do this in my wife's '06 and it's such a pain in the ass. Especially when driving in the snow, because they system allows no wheel spin at all before it engages. So I'm CONSTANTLY doing the high/auto button combo to go back to 2wd. 2 dealerships have both said it's "normal"
I don't know whether to believe them and think Ford really did a half-ass job designing the system, or to no believe them and keep looking for an issue myself.
Where the driveline mechanicals are part-time 4x4, not AWD or permanent 4X4 (no center diff, so 50% of the power is always going to the front and 50% to the rear) you get the driveline binding and strain just like any other 4wd truck when you shouldn't be in 4X4. Like when it engages because you spun one wheel a bit in the sand when you pulled out of a side street, so then you end up going down the dry pavement road at 50MPH, still in 4X4. Not good for the front end.
I actually thought about digging into the wiring a bit to see if I could wire in a switch to keep 4wd locked out until I wanted to allow it.