If you start trying to make turns on a high traction surface like concrete or asphalt you're going to get a lot of binding and tension built up in the driveline. Which can put a ton of load on your axles and other components. Which has the potential to break things.
If you have no understating of the concept of mechanical sympathy then yes.
If you're sensible, then driving your average rocky obstacle with a bit of right boot is gonna put a lot more strain on driveline than some sensible testing.
Toyota didn't build your drive train from glass