I've shifted from 2Hi to 4Hi and back at 70+ many times, even on dry pavement.
The prerequisites are that both front and rear axles have to be going the same speed. This means minimal or no engine load, and driving in a straight line.
Realistically, driving in 4Hi on a mostly straight freeway, even on dry pavement, isn't going to hurt anything. For very gentle curves, there is more than enough natural slip in the tires to account for the slight changes in speed.
All tires have some natural slip at speed, and when you're driving in a straight line (with throttle input) in 2Hi, the rear tires are actually spinning slightly faster than the fronts. If you've ever had pulsing vibrations, you can hear the difference in speed as a beat in the pulsing vibration. Since one axle is spinning faster than the other, they continuously go in and out of phase.
But you can pause that beat by putting it in 4Hi. That locks the axles to the same speed, and whatever phase you paused it at is the constant vibration you will get. I sometimes use it to pause my vibrations at their minimum point on the freeway.
That said, on sharper turns, such as off-ramps, you risk exceeding the natural slip capacity of the tire and forcing it to either skid or slip at the road surface. This will accelerate tire wear. As you approach that friction limit, you begin to accelerate tire wear. And if you start getting noticeable chirp or wheel hop, you risk doing significant damage to the driveline.
(Note if you try this, try at your own risk.)