Diesel, big tires with large contact area and lots of weight on them....4WD without center differential....on hard, high traction pavement......in a perfectly straight line, no issues......turn a bit and something has to give. With a high torque diesel engine it will usually be the U-joints....but I've seen drive shafts twisted or the yokes broken.....and worse case transmission failure.
With a little 4cyl truck and minimal weight on the tires, you will most likely get away with it. But a big truck with lots of power and weight.....not so much!