Braking effect when turning
When rounding a tight corner, like turning into a parking space, there is quite a rolling resistance that goes away when the steering is staightened. It is like applying significant brake pressure. Could this also cause steering wheel vibration(rarely)?
Have you tried jacking the car up and spinning the front wheels and feeling for any 'brake drag'? But it honestly sounds like your AWD center differential might be having problems... This is probably a problem for the dealership.
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