Take a look at the axle's sounds like one of the joints are seizing..... Actually now seeing you have a WJ you should have rzeppa style axles, you may have a t-case issue, if it feels like the brakes are being applied when turning.... DO NOT force the turn, immediately make the turn wider or or if parking do not do any tight turn into a spot.
The case's vc is locked up and YOU WILL break a spider gear and then that will cause that piece that broke off the spider to wipe out the R&P.
If that's the issue then make sure whenever you feel it slowing from bind you make the turn wide or you're probably somewhere around $800 t-case issue will be a $2000 problem when it wrecks other stuff.
1995 Jeep gc ltd, 2005 Jeep gc ltd , 71 Dart, 73 RR 440-6pk, 78 Mag GT, 85 Power Ram W-350, 92 Daytona, 99 Dakota, 08 Ram 2500
Less than 8 is like playing with half a deck
Long Island Motorsports Association