>Torque goes to whichever of the four wheels has the least grip. That should be the tire with the most grip. If torque goes to the wheel where the tire on it has the least grip the tire still has no traction torque doesn't make grip appear out of nowhere. In four-wheel or all-wheel drive one wheel where a tire has no grip the other three wheel with tire that have grip move the vehicle isn't that the entire point of 4…
The author is describing the tricks used to get around that fact. Namely locking differentials or limited slip differentials. The end result is a fraction of the torque makes it to other Wheels depending on the design of the drivetrain. The author spent a lot of time on locking differentials when those are rare. Limited slip differentials are more common. Most awd cars will have a LSD in the center diff.
There are torsen diffs which do what you describe but they are rare.