Kelley says it all "If you CAN get there in 4-Hi, use it. That way if you get stuck, you've got 4-Lo and other options to get yourself out of it." This is an excellent rule of thumb especially if you are new to off-roading and are developing your skills.
I learned the "use 4 Lo and 1st gear" rule when descending a steep hill and it is highly recommended that you stay off of the brakes as much as possible (of course, you have to be there to determine the degree of braking you should or shouldn't apply) - this can cause side travel of the vehicle and potentially a roll over.
The TC2 feature is an added bonus in that it will allow limited wheel spin. When in mud and sand this can limit a wheel from digging a hole.
Oh, another good rule of thumb - don't hesistate to get out of the vehicle (in a safe condition) and walk the route you are about to traverse - especially important in driving through water and when approaching a hill in which you can't see whats on the other side.
There are excellent books on general off-roading basics that you might want to consider - several are available on Amazon.
JJ
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