Yes, Subaru X-Mode can be engaged while driving, but only at certain speeds. You'll need to be driving at speeds below 25 mph to engage X-Mode, but once it's engaged, the Subaru X-Mode top speed will be 18 mph - Subaru X-Mode will disengage if you drive faster than this speed. The tough capabilities of X-Mode will typically only be required on obstacles and terrain sections where exceeding this speed is dangerous in the first place. If you're driving above 18 mph on terrain conditions like dirt roads, the Subaru Symmetrical All-Wheel Drive system alone will typically provide the traction you need to drive with confidence.