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Forgive my long-windedness.
I've had it work all four ways, so I can express it as a matrix:
understeer oversteer
avoidance
crash
I think that avoidance is avoidance, regardless of if you have to do some reversing to get headed back in the direction you want and/or embarrass yourself in front of other drivers.
So the other option is the crash. With understeer, you still plow right into the hazard with the front of your car. Not fun. With oversteer, you spin and, in the maybe 1 or 2 cases where I've crashed, I hit with the rear and at a much lower speed. Spinning scrubbed off more speed than plowing, and the impact was to a less critical area of the car.
I think the most important thing is comfort and personal preference. The whole thing with understeer built into current cars and tire positioning to promote understeer is just idiot proofing. If you're the type who just gets in the car and goes, without giving these sort of things a further thought, then just go with what the "experts" tell you. Presumably it's to save yourself from yourself.
Otherwise, think, practice, be vigilant, and go with what you feel is the safest option. It might well be understeer for your particular situation, which is fine, as long as you know that's what you're choosing.
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