Is it normal for the truck to make a kinda jerking movement when it is in 4wd and taking a turn slowly?

Also when in 4wd it makes a kinda vibration/grinding noise. THe truck does this as well in 2wd but not until it hits around 65mph.

 

jerking while turning in 4wd is normal but grinding isn't might check t-case fluid level and u-joints.