As long as you're not getting stuck... and once you are, it's not going to be fun to get out and air down.
I've had the Jeep out in deep snow with Mud TAs (the wrong thing for deep snow) and aired down to 10psi I drove circles around Jeeps of all sizes with full pressure... had to, because I spent all day pulling them out repeatedly.
I would rather air down (air on the side of caution.. ba-dump-dump
) but in the van I tend not to because I don't have OBA, which leaves me either driving at full pressure, letting a few PSI out but not really airing down, or airing down and then limping 50+ miles on pavement (driving slow < 30mph)
Unfortunatly the OBA project is expensive and keeps getting delayed, although I really do prefer to air waaay down.