If you don't want the mess of swapping tires, consider the new generation of silicia-compound based AT tires that are 3PMSF rated (i.e. snow tire rated): Goodyear Duratrac, Falken AT3W, Cooper ATW. All are suitable for year round use in CO, and have mileage warranties in the 40-50k range. Come highly recommended by yours truly who ski commutes on the same roads you're talking about 40+ days a year, and spends all summer exploring dirt roads around the west. Pretty sure @nay (also local) likes his too.
If roads are open to ski resorts, you'll get there with a set of them in your FWD highlander.
THIS....... I love, love, love my Duratracs. This along with my 4x4...... there are no words.........................