I wouldn't say it's normal, but it does happen.
If you do a search on the forums for the term "Dry Park", you might find some threads on it. Yes it has happened to some trucks, but isn't the norm... A co-worker had the same truck as yours(and mine) and his truck would do the same thing. . He took it to the dealer, and (according to him) they replaced the steering gearbox(twice), the P. S. pump, all ball joints and front axle u-joints, all tie-rods and drag link, and it still did it... I believe after that, they put it on a semi-truck and shipped it to Chrysler's Training Center (somewhere in MI) TWICE, and replaced the brake booster. Well, it still did it, and he ended up getting a lawyer and they ended up buying his truck back. Mine, on the other hand, has never done it and has been fine.