Welcome to the forum.
Because the transfer case in the Navara just links the front and rear axles directly, you can't turn corners too much in 4WD on firm surfaces - think about it: turning left, your left rear wheel makes a couple of turns while the right front wheel makes a bunch of them. Since the axles are tied together by the transfer case, one of the axles has to slip and the ONLY way that happens in these cars is loss of traction (loose surface) or something breaks.
The best advice I could give you: use 4x4 mode when you don't have enough traction. I don't mean when it's raining in the Coles car park and you're trying to beat Mavis and Betty into the only remaining spot - I do mean sand, mud, loose gravel, river crossings, mountain climbing or the 13th, 14th and 15th greens at the local golf club.