I usually walk unknown depth crossings. Helps determine consistency of the bottom and any hazards, too.
Realistically you can completely submerge everything but the air intake, even the exhaust, as long as it's only very briefly and you keep the revs up.
I would try to keep any crossing at knee depth or below (when seated).
I've hydrolocked my WR in a crossing that got stupid deep (didn't walk it first), and the WR quit running about the same time the water was washing over the top of the gas tank. Had to push it out, lift up the front end, drain the exhaust and airbox, pull the tank and plug, turn the engine over a few times, and then do a roadside oil change. It ran fine after that and once I got home I changed the oil and filter 3 more times.
All good now but that was a bit dicey.