Does it only do it around corners? I had the same issue with my 2000, but it had close to triple the mileage that you show in any of your trucks in your sig. The clutch packs in the diff can sometimes plug up. I had to pull the entire assembly, spray the clutches liberally with an entire can of brake cleaner, and blow em down real good with compressed air. While i was in there, i replaced the pinion and axle seals. Its been a good long term fix, i put several thousand miles on it before selling to my friend whose been daily driving it for about a year and a half with no issues.