Too many people think the extra traction of 4x4 means they can drive as if it were dry pavement. Too much speed.
4x4 in most old Cherokees locked front and rear axles so they have to turn at the same speeds. Any difference in tire diameters from wear or pressure, one or more wheels will be slipping or trying to slip, to make up the difference. This is fine for loose surfaces, low speeds off road, what these 4x4 systems were designed to handle. It means maybe a little less control, one or more wheels a little loose, on slick surfaces. Again, better for getting traction at low speeds, than for cotrol in high speed driving.
More sophisticated 4x4, and AWD systems, have slippage in the transfer case, or a diiferential or torque splitter istead of a transfer case. Most now have stability assist systems, either managing torque, adjusting traction with throttle control and individual wheel braking. These are for slick road driving, standard or optional on most modern SUVs. But it still doesn't mean you can drive any speed you want on an icy road.
Tom Test
Itasca Spirit 29B