4WD is only better for performance in certain circumstances.
Even for full off road racing in sand or mud it is only better for heavy vehicles, a light RWD buggy is much better.
4WD gives a benefit in rallying mainly on 'loose' surfaces, on grippy surfaces it is only better if the regulations restrict the tyres on two wheeled drive cars.
In F1 mechanical 4WD was found to be far to heavy in mechanical form. The light weight of an F1 car is the holly grail and RWD even with current regulated tyres is much better than 4WD.
For 99.9 percent of road use 4WD is irelevent.
Blobby 4WD monsters are simply gas guzzling bs unless you happen to be a farmer or site builder.
For little blonde women on school runs they are a sick joke.
Certainly manufacturers can follow rally development and build awesome 4WD road cars but the performance on ordinary roads can easily be 'out' designed with a two wheeled drive car using the right tyres if you seriously want that level of performance on the road.
In F1 KERS would be much more easily controlled if it were to operate on all four wheels.
However energy harvesting on four wheels need not be mechanical and would be more efficient and lighter than mechanical 4WD KERS.
Motor generator/'s on the front axle harvesting braking and being used for drive only in corners to increase corner exit and improve handling (understeer.oversteer) would be the way to go.
Even so with the huge downforce durrently allowed the differences would still depend mainly on aero design.
On road cars the use of KERS does not give huge benefits unless the car is a hard driven performance type.