What you're experiencing is totally normal in a true 4wd system. With the exception that you shouldn't be doing what you are most likely! You should only have your truck in 4wd on loose surfaces (snow, dirt, mud, sand, etc). The most likely scenario to experience what you're talking about is on dry (or just wet as in rain) pavement. As said above, in 4wd your drivetrain is locked together - when turning your tires have to turn at different speeds. Because they are locked together that isn't possible - so at least one tire (assuming no LSD or lockers) has to be able to spin. With the weight on the front end of our trucks that means dirt, mud, or ice/heavy snow - otherwise there will be some "bucking" (that's the tire slipping on the surface). To get smooth 4wd on less than slippery surfaces you'd have to have an AWD system which allows some slippage between the front and rear drivetrain - NOT what most people want with 4wd trucks.