This is of course pure speculation but I think part of the reason why they put 4GB in the larger model is because they're marketing it as the iPad that can replace your laptop, so they wanted it to be more comparable to a laptop on paper.
Will there be features on forthcoming iOS versions that require 4GB? For iOS 10, I think almost certainly not. I don't anticipate any new iPads launching before iOS 10 debuts in the fall, and the vast majority of iOS devices in the wild still only have 1-2GB. Apple has to keep supporting at least the 2GB devices for years to come.
iOS 11 and later? I guess we can't say for sure, but again, I look to desktop OSs. There's not really anything that a Windows 10 computer with 8 or even 16GB of RAM can do that one with 2GB can't. It is the minimum to support every feature that the OS offers. Can it do everything as well or as smoothly? Of course not! But again, consider how much less demanding a mobile OS like iOS should be compared to Windows. Windows was doing way more versatile multitasking than iOS even with 1GB of RAM than iOS does now. That's because of the sandboxed way that Apple has designed iOS more than any technical limitations of the hardware.