That's what I have friends for and usually where I am off-roading I would not think about taking my tow rig in there that why I have a jeep.
A few opinions on 2wd.
1. Ideal rock crawling season in Utah is Sept-May. Snow storms on the way home from trips is common. This gets dangerous really fast.
2. Recovery. Even taking it up fire roads would be questionable in 2wd.
3. Parking lots. A lot of the parking lots we park in are very loose.