Still not good for the jeep. 4wd is just for low traction ground like dirt, snow, sand, and steep rocks. When you turn, the front axle will want to be going faster than the back. This is totally natural and happens with every car. When in 4wd, wranglers lock the front and back together, this will either make the back spin faster than normal on turns, or make the front skip like you have mentioned. Driving straight or long, slow turns is fine in 4wd like of you are driving on a snowy road, but on dry pavement its not meant to work.