I see Ackermann more useful in low speed tight turns than I do in high speed sweeping turns. Look at a forklift if you want to see an extreme case for Ackermann. Low speed, super tight turns.
I will admit a lot of it will go out the window when locked into 4WD. The driveline bind and forced tire slip will be way more than any little change to Ackermann. But still some of us think about this stuff. And just driving around town it does matter, and with as tight of a turning radius as a Bronco has, it can be helpful.