You need to decide what limitations you're willing to accept. I've been living in my RWD, open diff, closed-shoulder highway tire, 26' (8m) bus for 3 years. My favorite places to go are down logging roads in national forests. Despite my lack of traction, large size, and poor departure angle I can get far away from civilization. I know what my vehicle limits are and accommodate them. I've only been stuck twice. So long as I avoid mud, soft sand, and snow I'm good. I have good ground clearance and can easily ford 18".
All that said my next rig is going to be a large 4x4 expedition vehicle. I want to get further out with less risk and fewer limitations. If the cost of 4x4 is your limitation skip it. It's better to get out there with something.