It's actually a really hard question because these four people are barely mentioned in the text. They are Benjamin, Aram, Jesse and Caleb. Ever heard of them? We know little about them and the Torah spends little, if any time focusing on them. If Hashem wanted us to emulate them, He would have made them our role models. Instead our role models throughout the Torah are people who made mistakes time and time again and grew from their mistakes.  The point of this life is not merely to avoid sin and stay out of trouble. The point is to do, develop and achieve. This is a world of action and we are not expected to be perfect. In fact the Talmud says that only through making mistakes can you have sustained growth (Gitten 43a).

You could spend the entire Shabbat day in bed and not make a single mistake but you would be missing the entire point of Shabbat. If you intend to grow, you are going to make mistakes. It is the only way. 

Not only is making mistakes unavoidable they can even be preferable.  In school sometimes students learn that the right answer is good and a wrong answer is bad.  In actuality, a wrong answer has merit.  It has value.  We learn and develop from mistakes and when we examine where we went wrong, we emerge with a clearer and sustainable understanding and opportunity for growth.  Weeks after a test and the things students remember are usually the things they got wrong on the test, but later figured out where they went wrong (and were not simply told the 'right' answer). They actually remember and internalize those ideas and concepts more than the initial answers they got right.

So on Yom Kippur, when we stand and pound our chest while reciting prayers of penitence and teshuva, the focus should not be on the idea that we are bad or that we should feel worthless for the mistakes we have made. It's for us to say, yes, I have made tons of mistakes this year and use that reflection as a springboard toward self growth and achievement.

Only this seems to create sustained growth and achievement. So if you really want to grow and you don't find yourself failing then that means that you are not trying hard enough.

On behalf of all of us at KDHS Kol tuv and have an easy and meaningful fast.