Due to the design of a 4wd as opposed to an AWD vehicle, it is Normal for it to jerk and lurch when turning corners. This is especially true on dry pavement. Using 4wd on dry pavement is DEFINITELY not recommended. Using 4wd on dry pavement can cause accelerated wear and/or breakage of 4wd components. 4wd is ONLY recommended for slippery conditions such as gravel, snow and wet driving conditions. These conditions allow for the normal slippage that will occur with the wheels when turning corners.
The reason this happens is because on corners the wheels are trying to go the same speed and of course this is impossible because the inner wheels are rotating slower than the outer wheels since you are in 4wd, the transfer case is attempting to drive all 4 wheels at the same speed.
On an AWD vehicle on the other hand, there is a center differential and or a Viscous Coupling that will allow the necessary slippage between the wheels which in turn stops the jerking and lurching. A regular 4WD vehicle does not include a center differential to stop this from happening....
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