If you are turning more then about a 45 degree angle you will start to have drive line “binding” in 4hi or 4lo when not on low traction surfaces. This seems like what you’re describing. If there is no noise in 2wd, no noise in 4hi going straight and leas than 45degree turns but the noise happens when you crank the wheel to make a ”sharper” turn and you’re not in sand, snow or mud it’s normal to have that sound. You may even experience it in a low traction situation. You should not really be turning sharp in 4wd. This sounds like it’s binding and is normal.
4wd is typically used in low traction areas. You can engage it on dry pavement but DO NOT turn ONLY go straight. Disengage if you need to turn. Even on gravel roads and in some cases snow, sand or mud you may need to disengage 4hi or 4lo to make a sharper turn if you’re in that position. Or just live with the lurching and noise from the drive line binding and hope you don’t cause damage.
Sometimes you have to do what you have to do to get out of a situation.
I’m guessing it’s normal and nothing is broke or needs to be fixed. Just be more mindful of the surface traction and turning angle.