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Yeah, my truck will likely see 4wd an extremely small precentage of the time, and then only on flat dirt or snow. We've had quite a bit of bad weather lately and I got stuck 3 times in the desert loaded with camper and trailer (once in a freak snow storm a couple of months ago), so I sold my 2wd and got a 4wd. Well serviced u-joints should last me forever.
Again, not applicable to us here, but in the rockcrawling that we do the front axle u-joint is the number one part that we break. The stress comes usually from getting the tire wedged in a crack while turning, and the joints aren't as strong as when going straight, or from too much go pedal when there's good bite but tricky terrain. Guys with real big tires can break D60 axle joints, so even they run the CTM 300M joints on alloy shafts.
Just like racing a diesel truck, how far do you want to go........