Maybe it’s time to stop at a dealer , or maybe better an independent shop. Let a mechanic inspect the front end , steering and suspension.
It might be easy for a mechanic who can see everything in person.
Almost guaranteed the response will be the classic 'no fault found'.
That may help the OP to look at other angles.
The description is very typical of a classic wind-up condition, that's just too difficult to ignore, IMHO.
I used to be a ski patroller at a resort in Quebec back in the '90s, about 80 minutes North of where I used to live in Ottawa. I would drive up every second Friday night and return on Sunday evening and got to experience one of the more entertaining regional highways in the area.
It was quite twisty with a few straight sections, and too few passing lanes. And it always had lots of snow, the provincial plows rarely managed to keep it clear and open for long.
While on this journey I was often in and out of 4WD, travelling between 50mph & 70mph.
I did my best to avoid that feeling of tight steering or wind-up but, it was almost inevitable.
It was often necessary to use 4WD for passing or lane changes because I was travelling too fast to manage those actions in those conditions with 2WD.
The straight stretches of that highway were short-lived and much of it was somewhat curved. Very regularly, you could feel the steering start to tighten up, which meant slowing down and going back to the 2WD setting. It was just to be expected and no big deal as long as you stayed attentive to the feeling on the steering.
A good test for the OP might be to find a location where this binding/jerking happens and try a few tests.
After experiencing these apparent phenomena, travel the same path in 4WD but, travelling at a slower rate. Does the truck still exhibit the same behaviour at a slower rate of travel?
I'm expecting that it will be the same but it might be a bit less obvious, faster was always more apparent to me. Now, travel the same path again in 2WD. Does the problem disappear? If not, then you have another issue to identify.
If the problem disappears travelling the same path while in 2WD, it's as I stated, a drive line wind-up condition which is standard for any 4WD without the Auto setting on the transfer case.
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