First of all, you need to know that when you stop, the clutch is disengaged, (it activates with syntrifugal? force) thus essentialy disconnecting your motor from your tranny (driveline wise). At this point it is ok to shift to and fro low & hi because your tranny is not spinning it's internals, they are idle. You can look at it as a 2 speed manual tranny, because really that's what it is. You just dont have a clutch lever to disengage the motor from the tranny at speed, nor do you have syncros. Same said for shifting from forward to reverse at high revs, if the revs are high enough, it will lock your clutch, and at that point, you are trying to mesh a spinning gear (because your clutch has been activated) with an idol gear (because you are not moving), you need a low idol to disengage the clutch. I hope this helps, and sorry it's tough to explain! As for 4x4, there is an electronic actuator for that, and as long as there is not much force (torque) being applied, you should be fine. Now in the same breath, I would not recommend trying that while your rear tires are slipping and fronts are not.... you want your tires spinning the same speed.