To test roadie's theory pay attention to when the noise occurs and when the binding starts to occur.
To save on wear and tear only change the shifter in and out of 4wd when stopped or slow. But test the following.
1. Straight away. Does the noise appear or disappear. Does the binding occur if you shift out of 4wd after only going straight.
2. Loading up the left or right side CV's while driving straight. Load up one side's CV's and axles with tension by turning the wheel slightly to the right on a straight away. Do you hear the sound. Do you feel the binding occur. Don't do turns. Think of it like you would be heating up the tires like a NASCAR driver, is the best way to explain it. Do one side at a time and ease back into going straight so you don't bind the opposite side. Stop and turn it out of 4wd to see if that side had binding. Then do the opposite side. You don't need to go fast and you don't need to be on a road. The CV on the opposite way that you are turning will be the one with tension.
3. Do soft turns in one direction. Do very wide soft turns in a parking lot and listen for the sound. Very wide big parking lot. This will cause the most tension and almost guarantee that you will hear a noise from one side or the other if a CV is bad. After you finish turning continue straight for a bit before you disengage 4wd so that some of the binding is released before disconnecting 4wd.
If you hear a CV noise while going straight the axle is for sure bad and will go sometime. If you hear is with gentle tension in the second method then the CV has some miles on it but will cause you some issues. If the CV makes noise with heavy tension on wide turns then it could last you a while but like Roadies said start saving your money.
The theory's on replacement are varied. I believe that you replace right away so that other things are not damaged. Others believe you don't replace until the noise is really loud when driving straight.
After seeing the miles I doubt that your CV's are bad. But maybe. More likely you could have a slight misalighnment. 4wd can sometimes bindup on me even when on snow and ice.