If you were on dry pavement when you put it in 4x4, that's a big no-no (you can drive straight, but your transfer case will not like you if you turn)
Judging by your location, I suspect that you weren't on snow or ice, but if you were at least on dirt when you did it, you should be OK. In that case, if you were turning to full lock and moving when you heard the noise, it could just be dry steering stops. Do a search on here if you don't know what those are, and put a bit of grease on them.
The steering relay rod gets replaced under recall because of the possibility that it can break due to fatigue cracking. If it was broken, you'd know it, and wouldn't be driving your 4Runner.
2002 4Runner, Auto-A340F, 3.4L, 4.30 Gears
TJM T15 Front Bumper & Warn M8000, 4xInnovation sliders, Sonoran Steel 1.2 Lift, Toytec LCA Skids, Tundra Brake Upgrade (231mm), Extended rear diff breather, Deckplate Mod, Andymod, Dual batt setup with Optima blue top aux battery, Hardwired 1000W inverter, Aux fuse box, Full time power to 12V plugs, Yaesu FT7800R Radio, "4-air" system for airing up/down tires.
2007 FJ Cruiser - stock