If you have to ask the question, you are likely unsure of how the truck will handle it. Best way to get understanding is to try it out yourself. If you are coming from an AWD car, use auto, if you're nervous in snow, use auto. Use auto for anything other than an unplowed street. 4hi if auto isn't enough. You may end up ignoring it in future, but even with lots of snow driving experience I used auto frequently, especially on highway.
THe auto system works great in these trucks and removes most guess work for most drivers.