the shifting is electric, your speed doesn't matter. It's not like shifting into 4wd in a truck, where it's a mechanical shift. Engaging the switch on the handle bar just puts power to the magnets in the dif/hubs (depending on the model year). The magnets engage the clutches in the Hillard when the rear tires spin 20% faster than the front tires. That's 1/5th of a turn you'll never even notice the front engage or disengage that's how smooth and quick the engagement is.
and taking it out of awd is the same, it doesn't matter the speed you're going.
Now, you don't want to engage awd if your rear tires are already spinning and the fronts are stopped as this puts a large amount of stress on the hillard. but if you're moving it doesn't matter what speed you're going.
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