I'm on my fourth AWD MKZ so obviously, I'm an advocate. I've never gotten stuck in snow but I'm reasonable about it. I don't try to drive through two feet of snow where the car is going to get hung up. It's not a plow It's confidence-inspiring in the rain as well. If you like cornering, it helps there too. Judicious use of the throttle will help by putting power down in the rear and countering the natural tendency of FWD cars to understeer. As Airflow mentions above, this is especially true with the Driver's Package in the 2017s with torque vectoring.
Ford's Intelligent AWD is not just engaged only when it detects a traction issue. Even on dry pavement, when accelerating from a stop, the rear differential is engaged up to about 40mph/1500rpm. At that point, the rear differential disengages and the TCC locks up. Sometimes, you'll feel a slight vibration as these two events occur. This was a serious issue in my 2010 and they replaced lots of expensive driveline parts until Ford engineers told them to stop; it can't be fixed without major reprogramming and among other things, that would have to get run by the EPA. My 2012 was a bit better but you could still feel it. It was much less obvious in my 2013 (different trans). I've felt it a couple of times in the 2017 but you'd really have to be looking for it. It's like running over a rumble strip.
I digress. Here's a video that explains how Ford's Intelligent AWD works. It's for a Ford, but Lincoln is similar. There's an animated graphic available in the left info cluster that shows how power is being applied to the four wheels.
2017 Ford Escape AWD Test
BTW, Ford hasn't used Haldex AWD systems for years.