Mike,
How often have you used the 4WD on your adventures? I thoroughly enjoyed the article and I am extremely jealous. I have taken quite a few trips in my 1998 Lance Legend and 1997 F350. In 2013, I took a 4,500 trip from KY to Utah and all places in between. One of my biggest regrets is not staying at remote places. Since then, it's been 100% boondocking for me and the DW. My camper is fully self-contained with solar and a propane generator, so we really have no need for campgrounds.
My DRW F350 truck is only RWD with 4.10 gears and a limited slip differential so I believe that I can traverse many dirt roads without getting stuck. I know my limits so I am not inclined to push them too far. I have Goodyear Duratrac tires that are new, so that will help get me out of trouble should trouble find me.
Without getting into the whole 2WD vs. 4WD debate, I am just curious as to often and under what circumstances you needed 4WD to get out of a jam? Most people use 4WD to NOT get stuck but often admit they weren't sure they needed it at all.