Most of the owners manuals state if your going further than 50 miles or over 35 mph,its best to remove the driveshaft...
I cant say I've seen it happen,after seeing many trucks get hauled into the junkyard from longer distances at higher speeds,but I dont doubt the transfer case and rear output shaft bushing the driveshaft slip yoke rides on will eventually overheat from lack of lube,and you know what happens next!..
Its only 4 bolts to take off at the diff and strap up the shaft to the chassis..better safe than sorry..