I disagree with your implication that the GOAT Modes are useless.Honestly I don't use the Goat modes.
I find it more intuitive to simply select 4Hi or 4Lo depending on the need, rear locker when needed.
Front locker ONLY to get me through some obstacle where I need a front locker, then immediately back off again, and front locker not used when a tight turn is needed or you have one of the tires pressed up against an obstacle, trying to turn the wheel.
To me it seems none of the easy-button "GOAT modes" do everything I look for in any given scenario. It's almost like too much of one thing and not enough of another.
Step 1 is knowing what the GOAT modes actually do...
GOAT Modes don't just activate 4wd, lockers, and disconnect, they also control throttle response, shift points, and traction control. This is a very big deal if you're in sand, it gives you much more control vs just 4wd and lockers. Each Mode is a default setting and will ABSOLUELY need to be adjusted depending on the ever-changing situation.
My advice, set the GOAT Mode that most fits your situation then make adjustment accordingly. As an example, if I'm on the trails (moderate to hard stuff) I go into Rock Crawl Mode then turn the lockers off and only turn them back on when I need them.
For the OP's question. My advice is to go through your Owner's Manual along with the Quick Reverence Guide and get familiar with how Ford suggests you use the off-road features. From there, yes, go out and test but be careful to understand the correct usage for situations (speeds for drive modes, when to NOT use 4wd,...). But ya, I would have probably only used 4H in that situation, maybe just regular 2H.
Here is a link to the docs:
2021 Ford Bronco Owner Manuals
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