I just leave 4WD engaged on my D-series and lock the rear diff if i want to drift. If I need to get out of trouble or I'm expecting a difficult bit of terrain I put it in low gear and lock the front diff as well.
4 wheel burnout is double of what 2 wheel burnout is. On T-series I keep everything locked, all the time and yes, it is kind of 4WD even it is RWD.
$wd is made for slow craw-like driving. You will spin out if you try to drive a 4wd car all the time..
With not enough power 4wd is not so fun, plows straight like FWD and needs to be thrown around like FWD to get sideways, AWD systems can be easier to get tail out with help of left foot on brake as power goes more to rear wheels when you "bind" front wheels with a brake. That works with FWD to some extent too, but requires bit different application as with FWD throttle pulls you straight and with AWD throttle makes you sideways. Low power vehicles of course have only one position for throttle, just control with steering and brake. With real offroad capable 4WD, there is no change, even lifting throttle slows front and rear wheels same way, so with too little power you need to throw it sideways first, then do tricks with throttle etc. Land Cruiser on winter was sometimes annoying with 4WD on as it did not want to turn at slippery roundabouts, you really had to throw it sideways before intended turn and that did not go too well with authorities. It is indeed easy to control when on slide, only issue is that speed tends to get high quite easily.
From real life Jeep experience, 2WD onroad and fast dirt roads, 4WD Hi on slower dirt roads and in winter conditions, and 4WD Lo on offroad trails and sometimes in winter. I also weld all of my diffs instead of selectable lockers because it's classic, more durable (okay, sometimes), and more realistic/budget friendly.
I drive 3 4wd vehicles. Only time I use 4wd is when I am offroading or driving in the snow. I like to have the option though.
Yeah, it does have a tendency to understeer if you don't throw it around. I hate playing Forza with AWD cars, they never do what I want. Trying to race a Veyron or a Lambo around corners is my idea of hell in that game. Launches and pulls are fun though.
I always drive in 2wd at all times, even off road. That way when I do end up inevitably getting stuck, it is never bad enough that I can't just crawl right out of it in 4wd. 8 plus years of driving and I have never spun, gotten stuck, or had an accident. You just have to learn and understand the limits of your vehicle and respect those limits.