If you can get it in and out of 4 low, there is no problem other than a combination of not following directions, possible pressure on the drivetrain components and/or your lack of knowledge of 4wd components/operation.
So good news, nothing wrong.
Cold, wet, left in 4 low for 6 months, doesn't matter.
You don't need to rotate tires to make it work and driving it down the street for a little bit in 4 low isn't going to hurt anything (unless maybe you have 2 totally different sizes front and back).
Other good news, you're not hurting anything by using 4 low frequently, or by leaving it in 4 low overnight. There is also no need to use it to get up on a couple boards to level out the camper. So do whatever works for you.
FWIW, in my absence and my wifes apprehension during an emergency, she shifted one of our trucks into 4 low to climb up and out of our snow covered driveway (like 3' deep) and didn't shift it out of 4 lo until she got 200 miles away, half of it on dry pavement. "Honey I drove as fast as I could, but there's something wrong, truck will only go 55 mph and the engine was at 5000rpms the whole way!" Truck was fine afterwards.
Real trucks with real transfer cases and using 4 low are one of the few things that the mfgs haven't been able to idiot proof from millenials and others. They don't go in and out of 4 low with an Iphone app!
You're not hurting anything, read the directions and shift in or out of 4 low in neutral, rolling slowly, foot off the brake, totally freewheeling the drivetrain. And it will work better. Remember though, it's not a system that has been perfected. If you hear grinding kill the engine immediately, shift trans to neutral or park and re start.
