Owning a 4x4 probably gets us into areas where we wouldn't go without it, even if 2WD gets us there - and it's a lot more fun and scenic. BUT, if you only need it once and don't have it, you'll wish you did.
If you never go anywhere but paved roads, you may never need it. Never drive in mud, never drive on grass, never leave a maintained road, two-wheel drive will do it - probably. It's the 'probably' that might get you though.
This Monkey bought a two-wheel drive PU in 1976 - got stuck once. Sold it, bought a 4x4 and never owned a 2x4 since, never got stuck again either. Just sayin' ...