Just curious, is it recommended to stop the vehicle before switching between 2wd and 4wd or can I do it on the fly?
I've heard mixed thoughts on this. It's kinda annoying sometimes to come to a complete stop before switching.

From the manual for my Z:

The vehicle must be stopped to engage or disengage 2WD / 4WD and 4WD-LOCK. Mechanical damage may occur if the switch is engaged or disengaged while driving.

I did not find any similar statement in the XC manual but did find this for 4WD-Lock:

"Riding before the front differential is properly engaged (e.g., when the indicator light is flashing) will cause the engine speed to be limited until engagement is complete"

Having said that, I routinely shift to and from 4WD on the Z while moving at slow speeds and it doesn't seem to be a problem. I stop before before putting it into 4WD-lock, which isn't often.

[2015 Z Force 800 53/Trail EPS]

Yeah..I too shift it in and out of 4wd while moving below 10mph but you must not be on or off the throttle..in a neutral state and not turning, and after switching a slight "off/on" tickle of the throttle to ensure the slide has completely seated before applying power either way. As for the diff-loc..well it's safest to stop before locking both sides together as even a slight difference in axle speed can damage the splines. Even then you want to give it a slight "left/right" turning movement when you start moving again to ensure that set of splines is also completely engaged and seated. PITA..yeah but what's worse is a damaged diff.

2 to 4, 4 to 2 is ok AS LONG AS YOUR WHEELS ARE NOT SPINNING. That's for hi or low. The gear ⚙️ ratio is the same. Hi to low,low to hi is a no go. Different gear ⚙️ ratio. And it WILL let you know.

yeah I was definitely talking about 2->4 and 4->2, not hi/low gears.
I usually switch between 2 and 4 while rolling slowly with my hand off the throttle. I rarely lock the diff, but when I do I am completely stopped.

Thanks for the opinions on this.