1. Consult your owner's manual first and foremost.
2. Consult your common sense.
3. Do not drive faster than you can stop.
Living in the foothill right below the snow line, I drive to Lake Tahoe and Reno often enough. If you have 4x2 and find the roadway bad enough to need 4x4, you should not be going more than 30-40 mph. I see plenty of people blow right by in 4 inches of snow doing 50-60 mph and they are just plain stupid. 4WD does not change the laws of physics. 4WD can get you started and keep you going, but does not change the physics in stopping. Just because the manual may say you can shift on the fly up to 60 mph or what ever the owner's manual says you can does not mean you should.
I've had to slow down to 25 mph at times depending on the slickness of the snow or ice or the narrowness of the road, the acuity of curves, light or lack of, etc.
If you are 4 wheeling, the speed is often much slower than what you see on TV. Most 4 Wheelers roll nice and slow up and down rocks because they can't crash into them. They need slow steady movements checking the line of travel so that eahc wheel is on solid footing to manuever over rocks and gaps. Consult some good 4 wheeling manuals for driving techniques in those areas.
There is no bright line answer but real 4 wheeling or real life need for 4x4 is much less glamorous. Just common sense, and if it does not feel right, go even slower. The goal is to get there and get there in one piece.