Probably not a good idea to drive that way, John. You need to be in full travel mode to be sure your drivers tire clears its fender on turns, and for suspension reasons. When my air system failed to reach and stay in Travel Mode a year ago, I fully raised and lowered a few times until it somehow miraculously got into a travel height where there was no scary noises coming from under the rig when it moved (yes, there were better options for checking... my bad). In Bend, the techs found a broken air valve link rod assembly underneath, a common failure apparently from other Forum threads here early in 2012. I was lucky the thing raised to travel height and stayed there til Bend.
But try fully raising and dumping a time or two (make sure your front wheels are straight ahead!) to see if anything changes enough for you to safely get to service. Then have your air system checked. If you encounter too much twist and noise when raising, stop, so you don't damage anything.
Joel