Grinding noise from rear 2020 ram 2500 4wd

[Upsetram]

I have a 2020 tradesman I just bought. Has 100000 miles on it. When I turn at low speeds I get a grinding from the rear and I can feel it I. The steering wheel feels like it’s stuck in posi. Feels like the clutches in the rear aren’t disengaging correctly. First thing I did is empty tear end oil and fill with oil from the dealer. Seems to be a little better. Is there anything else I should check?

 

[jws123]

Make sure it isnt in 4x4 as you cant use that on dry pavement. Also did you add the limited slip addative? I know some fluids come with it already but I have always had to add a bit more.