Did i break anything?

I drive a 2013 mazda bt50 4x4. I went
to a mall yesterday. Upon aproaching
the ramp, i experienced a slip so i
engaged my 4H, then i forgot to turn it
off. I drove about 500 meters  on dry,
very high traction concrete surface
with about 4 very steep climb and
sharp turns, then i experienced axle
binding. My 4H wont disengage. So i
made a reverse and it eased the
binding. After that, everything worked
fine. Did i do damage to my car?
Should i replace any fluid?