It's an SUV and should be left hooked up. That said, I've never worried about ABS. I've had vehicles with it, I've had vehicles without it. Been in wrecks in both that involved heavy braking (not my fault, people pulling out disregarding stopsigns, one was drunk, etc.) and I honestly am not worried about ABS or not. I was taught to drive on a vehicle without ABS both in low-traction environments, and not, and just don't mind either way, although I have driven the SAME vehicle with and without the ABS fuse connected in low traction environments, and ABS makes about a 2-fold difference in the input required to keep the vehicle in-line with your expectations of it. Without ABS, I turned the steering wheel almost precisely 200% further to effect a panic avoidance/braking maneuver (Z06, wet asphalt).
My encounters with DSC have all been unnecessary and resulted in a computer caused left/right jerk which actually interferes with whatever input I was giving. It also throttles engine speed; a well timed high rpm shift can trigger (albeit only for a second or so) it if it lands on the peak of the next gear. If you ever mash it on a wet road you can experience this (independent of TCS). I don't use mine for off-road, hence why I don't need the additional ground clearance but desire the other traits of the car. As far as ABS I've never owned or driven a car old enough to not have it so I haven't experienced locking the wheels. Although I suspect it may be similar to spinning out (a full 360 which I have experienced and pretty much recovered from; thanks old woman driver).
Again, that said, this is an SUV. This is what I use mine for:
Right tool...right job. Just like I could go and hunt moose with my M4...that's not the best solution.