They get a lot of hate, but the bronco sport has the best AWD system I've driven to date in that regard.
And with that said, it is still the type of thing the Park Service would rightfully cite as not a proper 4wd. 9ish inches of clearance is not much, and the lack of a low range will bite you. I've taken mine on plenty of milder 4wd only trails in parks (e.g. black gap in big bend plus tons and tons of forest service roads), but I'm certainly not going to do elephant hill in canyonlands with it. That's what the dedicated off-road rig is for.
There are "4wd only" trails in national parks that high clearance AWD is fine on. The rangers will tell you which ones those are.
Canyonlands is a different beast than most national parks. Canyonlands has some very gnarly trails open if you have a permit. Lookup dollhouse sometime. Beautiful, but insanely technical. Elephant hill is better known and a bit milder.