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I would say no. In the unlikely event you don't get stuck (I think you will) you would probably wreck your AWD system. Many car "AWD" systems are not up t the same strength and punishment standards as a 4WD truck.
While I think a Subaru wouldn't get stuck (certainly as much as a Sienna) I do think you'd tear up her driveline (or at least wipe out CV Joints, blow headgaskets, front pipes, and every orifice a Subaru can and will leak through (I drove a Subaru & Toyota Service Desk for a while)
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