Uhm, not quite... You can use 4WD long before that, but there are things to remember.
Grab a cuppa, and have a read of this :
http://www.fronteraowners.co.uk/wiki/index.php/4WD_FAQ/Guide. The main point is that we don't have a centre diff, so equal power is sent to both axles; when you steer the front wheels need to be able to slip slightly, and if you have good grip (ie, on tarmac, dry ground, etc) this can't happen, the drive train will "wind-up" and you'll either not be able to go any further, or more likely, something will break.
Have a read of the above, which should help, but feel free to ask questions, etc; that's what this place is all about
