I drive my truck at speed, safely, typically on a private road or road course. Having a lifted 4wd with mud tires doesn't make for a stable ride. I can launch at the drag strip in 4wd and I have NEVER had traction issues with bad track prep or cold. I also live in an area that winter lasts 7 months of the year with ice, snow, and lots of wind to create drifts. I've had a 2wd out here and when it gets stuck in 2" of snow that's got ice under it, it's just plain embarrassing.
That's why I lower my street 4x4s. My work truck is a 4" lifted SuperDuty 6.7L, so I go both ways.