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I would consult another dealer. Also, I would think when you turn on a curve while in 4wd on dry pavement you could experience "driveline windup" because the front and rear wheels loose their sychronization.
Exactly I could understand if I was turning I may experience "driveline windup", but on a straight away, I can't believe it...
Maybe your gears are different front to rear or tire diameter is different. The out of synch condition would build up as you drive because there is 0 tolerance for it. You just can't drive a truck in 4wd on pavement. You would have to drive perfectly straight and maintain exact rpm syncro front to rear, so the dealer was probably right. All it takes is tires low on air etc, etc etc.
As an update... I took the truck back in last week because the 4wd would intermittantly not lock the front hubs. They found the passenger side knuckle seal was leaking vacuum. The replace the all the seals on the passengers side. Everything is fine know, no grinding or bang. This incidentally is the second time that seal has been replaced..
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