you're likely fine, just stop driving on concrete in 4wd.
When turning, the four wheels each make a different radius track, which means that each wheel is turning a different speed. The differential in each axle allows for this speed difference between wheels on the same axle. For the speed difference between the front and rear wheels, there must (MUST) be slippage. Either a center differential or fluid coupling, or other gizmo allows this, or a tire must slip on the surface. Because our Jeeps are not all wheel drive with this center device, we must let the wheel slip on a slippery surface...snow, mud, sand, etc. Good traction on wet pavement, even dry hard clay, does not allow for the slippage needed.