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Kailua Kona, HI
Read the manual, it says to drive in H4 most of the time as long as your differential is not engaged it's completely fine.
Had same issue with my 4runner. Take your MAF sensor out and clean it with MAF sensor cleaner. Also, replace your spark plugs. While doing so check to make sure there is no fluid (i.e. oil) on any of the plugs. Should stop running rough for a bit though it's usually a temp fix. Might want to start thinking of checking your head gasket.
Try look and see if your roders are okay on each tire. You want them to be smooth and without and discernible ridges.
my runner has 179000 and about 2 months ago the stability control lights and check engine came on but since it drove and handled perfectly fine I didn't pay it any mind. Starting about three weeks ago I noticed that about once a week I needed to add coolant to the radiator but the overflow was always full. Two days ago it started misfiring and the check engine light blinks. The overflow reservior smells like exhaust and water coming out of the tailpipe yet the oil is fine. Also the misfiring so bad I refuse to drive it anywhere!