I know everyone else has already said it, but I'll say it too, it sound like you are in four wheel drive on a hard surface. There is a HUGE difference between 4WD and All Wheel Drive. 4WD does not have a center diff in your transfer case where AWD does, so AWD can be drive on dry hard surfaces, 4WD CAN NOT be use on dry hard surfaces with out having loud clanging / popping sounds, and the vehicle feeling like its binding up and being loaded up and held back.
My personal general rule of thumb for 4WD, is I only use it when I NEED it. I will drive around all winter on snow and ice in 2WD, I only switch over to 4WD if I think I am going to get stuck. When I go wheeling I start out in 2WD and again, only switch over to 4WD if I think I am going to get stuck.
If I were you, if you were still really concerned about your rig, I would go find a nice muddy area that had very low traction and see what your 4WD does, I would be it will be nice and quiet.
Just my 2 cents
99 XJ Sport 2 Door, 4.0L, 5 speed, all stock. Daily Driver
79 F150 Standard Cab Short Box, 400ci, NP435, NP205, 35" SSRs