Thanks everyone for your help. For the record, I was in a parking lot that was solid ice.
It may have been solid ice, but your tires must have had enough grip to create driveline torsion. Both front and rear wheels in 4WD, attempting to rotate at the same speed, is a battle while turning.
The inside tires will be turning at the same rate as the outside tires when in 4WD.
And, while turning, the energy is somewhat absorbed by the driveline, and periodically, the inside tires slip, and the driveline torsion escapes, which creates a hopping or bouncing behaviour.
I don't use 4WD on the roads unless there's deep snow. The curvy rural highway I drive almost daily often has a mix of snow and dry pavement. Unless you have the luxury of 4WD Auto, 2WD and slowing down is the only solution.
Driving on pavement in 4WD with intermittent traction will damage the driveline components.
The same thing applies to parking lots, especially with large full turns. Unless you have slicks or the ice is extremely slippery.
My BFGs have enough grip and sipes to not tolerate parking lot ice while turning in 4WD.
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