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So in HC when towing uphill you often need to cycle the diff on and off, or only use it on the steep parts where you can't move. You can also 'trick' the diff if it's heating up on tarmac by deliberately aiming at log bundles, rocks etc to bounce the truck up, spin that wheel in the air and cool it down.
Of course ramming things at full speed is a good way to do as much damage as or more than crunching the diff but hey, you gottta push the limits.
The reason I put hard surfaces in quotes is sometimes the engine gets confused about what is hard, I think it's more calculating if the wheels on the axle are turning perfectly in sync. I've had diff lock up while crossing grassland, etc.
As soon as I hit mud, I could just turn on diff lock and then it is just like driving on a hard surface again until I get back on tarmac. I don't do this because it seems like a massive cheese, since I don't suffer damage for it or anything else.
The reason it damages you on hard surfaces is because the diff lock has to carry the strain of keeping the wheels spinning at the same speed in turns and whatnot. On slippery surfaces the wheels slip more easily and there is less strain.
Most, or all, on the vehicles in the game with full time diff lock likely don't have differentials at all, and the strain is carried by the axle as a whole (some may have closed differentials).
This means wheels on the same axle are forced to rotate at the same speed at all times. Which gives rise to one of two things on high-grip surfaces:
a) "wheel-hop" where the elastic properties of the tyres store some energy short-term until the "buffered force" coming out of the drivtrain exceeds the combined available grip and makes one or two tyres bounce and release the built-up tension (binding force) momentarily.
b) the available grip (think heavy laden truck on high-grip surface) overpowers the "structural integrity"(if that is the correct term) of the weakest link inside the drive-train leading to ternminal damage to at least one part that finally gives in.
Some, if not most, 4WD systems are not designed to cope with excessive forces for too long, some not even able to withstand the application of full engine-power going to only n<X number of wheels with grip. Metal can
1) flex, (think drive-shafts and axle-shafts)
2) then bend (shafts, gear-teeth, etc. -- at this point you will have trouble moving)
_3) and then break (welcome to the world of "No-Wheel-Drive")
The problem is about efficiency and available room and weight during vehicle design.
ETS2 always prompts you to disengage it when increasing speed and moving from say a quarry to the main road.