To me, it's not a question of HOW much ground clearence you have, it's more of a point of keeping your usage within the capabilites of WHAT you are driving. In other words, whatever you are using, use common sense. ANY and ALL rigs can and do get stuck.
For what you describe, 4WD ( high and low range ) is nice, but not really needed. AWD ( all wheel drive, no low range ) like most cross-over rigs are, will do the job just fine, so long as you don't push things. Good tires go a long way, but most of all, common sense is what counts. With the price of fuel, lots of folks simply cannot justify a tradional 4WD ( big ) rig. You don't need a ton of money to have a useful rig. Even a 2WD older truck with a posi rear and good tires will do what you want. Put a conopy on the back, and you have sleeping/camping quarters for a weekend outing. If you can find a decent VW old model "bug", cutting into a baja bug will do very well, for not much money at all.
Any of the rigs you mentioned would serve you well, as would many others. If you are mostly into winter driving, use good tires, 2wd or 4wd, and you'll do fine.