Ok, if you are feeling this only when pulling into parking spaces or driveways at lower speeds, it is an issue with the transfer clutches or the transfer solenoid.
What happens is they wear out and the car starts to bind on tight turns.This is because all 4 wheels are turning at the same speed.
Under the hood in the large fuse box, there is a slot labeled FWD. If you put a ten amp fuse in there and it solves the problem, then this is the problem.
The transmission doesn't have to be replaced, but the transfer clutches do and possibly the valve body.
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