Sounds like it could be transmission wind-up. Does it happen on good-grip surface when turning?
Never use 4WD other than on loose surface - when you corner, the front wheels go faster than the back, and the truck has no center diff, so the wheels have to slip to prevent the transmission "winding-up". On a good-grip surface, they have a lot of problem doing that, but when they do, they make a lot of noise and vibration - and break Transfer Case internals!