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SE Michigan | I assume that the Explorer is the new generation (Taurus based platform) so 2wd = Front wheel drive. IF so, 6" should be no problem (my wife drives a 2016 2wd Explorer and gets along fine in that kind of snow, tires will make the difference).
If you are talking a un-weighted 4x4 PU, it's a toss up for me, yes, you will have the front end (one tire) powered, but your rear end is quite light (especially the newer PU's) so that can be a negative.
I will take a front wheel drive car over a 4x4 un weighted truck any day on ice, and light snow. The truck will be my preference once you start getting snow deeper then the car's ground clearance.
In both cases the driver makes all the difference in the world....so there is no good answer
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