Ahh. the Internet...
Driving on pavement in 4 wheel drive with a part-time 4 wheel drive system like the Samurai (and Tracker and any other 4x4 that is NOT SPECIFICALLY an all-wheel drive vehicle - there IS a difference) will eventually get you in a world of trouble.
While WET pavement
might in some cases allow enough traction 'slippage" between the front and rear axles to relieve any "winding" caused by the different rotational speed of the front and rear axles during maneuvering, the second that you hit dry pavement you are putting yout transfer case in a situation where heat and stress will eventually cause failure.
The part-time 4x4 system on Samurais, Trackers, Sidekicks, Vitaras and similar variants are exactly that - for part time (Snow, mud or offroad) use only!
If you want all wheel drive, try the AWD Suzuki SX4.
True Story:
I once owned a Pinzgauer 710M Swiss Army Troop carrier. When I bought it, it had severe wear in the 4x4 locking mechanism from the previous owners' habit of driving it on pavement in the 4x4 mode.
I completely rebuilt the 4x4 mechanism (see
http://www.sdp-pinzgauer.org/html/drivetrain_overhaul.html for details)
Shortly afterwards, I sold the truck to someone from Virginia. He drove the truck from Independence, MO to Virginia. By the time he arrived, he had destroyed the 4x4 mechanism by, you guessed it, driving it on the road in 4x4 mode! Not a very good way to treat a $11,000 truck...
Hope this helps!