I agree to simplifications for casual players, but only as OPTIONS. Let the game have the option of choosing a simplified and realistic mud/snow/terrain, reduced and realsitic fuel consumption, damage to the vehicles and even a hundred other options, so that everyone can customize the game to their needs.
Tracked vehicles in real life can also get stuck. There may also be maps with such places, where only tracks can handle it.
I personally like maps where there are some asphalt roads and lots of varieties of rough terrain, from quite easy to very difficult.
I like to have a lot of different types of vehicles intended for different terrain and use them adequately, or sometimes for fun and challenges to use in difficult terrain vehicles not intended for this etc.