In the 70’s a few trucks were offered with full time 4WD. It sucked. The differential between front and rear wheels was an open diff, not even limited slip.
With open diffs front and rear, you are stuck if you lose traction on one front, AND one rear wheel. With the third open diff in the middle, you are stuck if you lose traction on ANY wheel. Those 70s FT4WD trucks were also notorious for poor highway fuel economy.
If you replace the open diff with a limited slip differential, you introduce a serious problem on ice. The break away torque for the limited slip can be high enough that it can cause the lower traction axle to skid or spin, losing traction and steering (front) / stability (rear).
The solution to this is the viscious drive found on modern AWD vehicles. This is a fairly modern inovation. It also becomes bulkier and heavier in proportion to the vehicle weight. such a drive system works well on hard-surfaced roads, and OK in snow. Deep sand, mud, or rock crawling where one wheel might be off the ground are another matter. In those cases, a completely locked driveline is near optimal, so a viscious drive would need some means to lock it totally.
The second problem is the joints used at the front steering connection. There is one type of joint that drives smoothly when in a turn, and can operate at the extreme angles required, and fit the available space. This is known as a Birfield joint. They are used on all FWD and AWD passenger cars. (usually referred to as CV joints, but the Birfield is only one type of CV joint) They are also used on the front end of Toyota part-time 4WD mid-sized trucks (Tundras I don’t know about).
The Birfield joints are just adiquate in the Toyota mid-sized applications. When they are modified with larger tires, and lower gears, it is not uncommon for these joints to fail spectacularly. Birfield eliminator kits are thus something available to the rock-crawling Toyota enthusiast.
The Birfield joints also limit steering lock a bit. Not too badly on a short wheel-based land-cruiser, but a bit annoying on an extra-cab Tacoma. On a longer full sized truck, however, this results in an unacceptably long turning radius. Note that full sized pickup chassis are designed with ONE front driveline to work on all wheel-bases from conventioal cab, to extended (4 door) cab with 8’ bed. To obtain adiquate strength, and steering lock, full-sized trucks use simple single-cardin joints (AKA U-joints) at the front wheels.
These have the undesireable characteristic of requiring the drive line to change speed twice per revolution, resulting in steering wheel shimmy, and extra front driveline wear. This is deemed acceptable in part-time service, and causes few problems at low speeds on surfaces with challenging traction. It would be annoying, and a reliabity issue if used routinely on hard surfaced roads however.
The design intent with AWD systems is to provide improved dry-pavement spin resistance, and improved safety in snow/ice conditions. The design intent with 4WD trucks is to avoid getting stuck in heavy mud or sand, or extreamly rough terrain. While there is some overlap, these goals are not completely compatable.