I had a Subaru and at least twice I had one tire that had to be replaced. Wouldn't surprise me if I had 15 or twenty thousand miles on the set. My trusted tire shop that had been in the same family for a number of decades recommended just putting on a new one.I think most AWD systems, even the notoriously picky Subaru systems, can be fine with replacing 2. This is assuming the typical scenario of two 10/32" tires on one axle and 5-6/32" on the other.
I remember working on a Subaru where the owner had not rotated the tires in a several years; the two front tires had 2/32" more wear than the rears. System had no issues.
Replacing one may be a different situation....that is unchartered territory for me.
Either I was lucky, or as I believe it really doesn't matter as I never had any problems and drove that car for many tens of thousands beyond.
YMMV