Yes, you should engage your 4wd every couple of months at least. I don't think there is a max speed you are limited to while driving in 4wd high. The only limit is when you engage the 4wd, and that is dummy proof because it won't let you engage the 4wd if you are going too fast. The most important thing is not to make sharp turns in 4wd.
I usually engage mine every couple of months on my way to work on the interstate.
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