ok, quick lesson in differentials here, a differential lets the 2 ends of a shaft spin at different speeds, this is important when you are trying to turn corners so you don't damage anything. the disadvantage being that if 1 end looses traction and starts spinning it gets all the power and the other end goes nowhere.So, what "basic" 4wd equipment (LSD?) will keep ME from getting stuck in that scenario?...
now a quick lesson on drive trains, on a "modern" 4wd system there are 3 differentials, one on the front axle, one on the rear axle, and one in the middle joining the 2. in this case any one wheel spinning gets all the power, and the other 3 get nothing. The upside being that you can leave the vehicle in 4wd at all times even on dry pavement with no problems.
The Delica uses an older 4wd system, whereby there are only 2 differentials, one on the front axle, and one on the rear axle, the drive shaft connecting the 2 does not have a differential, so both axles must spin at the same speed. In this case you need one wheel spinning on both the front and rear axles before you get stuck (already an advantage over the ford you saw stuck). the down side being that you can't use the 4wd on dry pavement without damaging things.
Locking differentials are a way of "disabling" the differential making both wheels spin at the same time, it gives you the best of both worlds, unlocked you can use the differential to avoid damaging the vehicle by driving on surfaces that don't "give" as you turn, while still giving you the option to lock the differential to make sure both ends spin at the same speed. the "perfect" off-roader would have locking differentials on both the front and rear, and either a locking centre dif, or like us, no centre dif.
You can also think of a LSD as a "partial" diff-lock, they let you have the advantage of the 2 wheels being able to move independently, while limiting how much spin the one wheel can get (directing some of the power to the non-spining wheel)
So in short, you're already ahead of what you saw on that road, but a locking dif would improve it more.