The general rule of thumb is 3/32 or less for 4wd/awd vehicles. The 4wd/awd system is designed to rotate the front and rear drive shafts at different speeds when turning. If you have a difference is tread depth front to rear the driveshafts will turn at difference speeds causing increased wear to the transmission/ transfer case. Some vehicles are more sensitive than others. Subaru for example are more sensitive to damage from different tread depths than others.
Front tires on awd vehicles will always wear faster because they turn