Your FJ Cruiser has VF2A model Transfer Case, which is Chain-Driven, similar to the Jeep's one that my marshal friend (another club) drives for 4 years in 4LOW 3rd Gear all the time... I'd say if it's going to stretch the chain / decrease lifespan of transfer case, by now he would have gone through a transfer case rebuild, but he hasn't, so yeah no issue with driving 4LO 3rd Gear for a long time every weekend 😁 If you mean the Gear Box as in Transmission, then again nothing to worry much. I
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