Driving in 4 wheel drive on hard dry surfaces will result in this type of action, and is not recommended. The All Wheel Drive vehicles have a better ability with CV joints and a front real differential ability and don't exhibit this action. Don't drive on hard non-slippery surfaces in 4WD, or at least don't turn sharp.
1993 Jeep YJ 4.6L Stroker (jeep.wawii.com)
1946 & 49 Dodge Power Wagon, 1953 Dodge M37