Sounds like you did fine. I think you're ok as long as you don't hear any grinding.
Seriously though, I try to shift into 4 HI before I need it, and I do it going fairly slowly, myself. I just push in the clutch and shift it into 4 HI, as long as the clutch is in you don't need to be in neutral.
For 4 low, I shift it while rolling between 1 and 5 mph, which keeps it from grinding, which it seems to like to do if stopped completely.
I laughed at this:
o, not worried about 4X4LO...dont plan to use it...figure if it require 4X4LO i'm probably going to crash
because you will be missing most of the fun to be had in a Wrangler if you never go into 4 LO. Just sayin'.
Remember, when you are in 4wd, hi or lo, your turning radius increases and you may hear and feel the Jeep trying to fight your steering inputs. This is normal, you just need to adjust your driving/turning when in 4wd. It's a Jeep, not a sports car.
Welcome to the forum, and don't forget to wave!