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that's why they made a thing called selectable 4wd. you can have 2wd when you want to, 4wd when needed, and AWD when you want as well.
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My post stands.
All 4 wheels remain in contact with the drivetrain, whether they are engaged or not. There is a gearing mechanism / differential that never lets the wheels roll as freely as they do in a purely 2WD vehicle.
For mileage purposes, you'll rarely (if ever) see an AWD car get higher MPGs than a 2WD car.