4x4 seizing up

Good evening fellow Tacoma owners, I recently purchased a 2014 Tacoma it has very low mileage I had to use the 4x4 (H4) for snowing conditions I noticed when I went to take a turn and when I put it in reverse truck started seizing/jerking noticeably I disengaged the 4x4 to regular H2 and no issues I put back in H4 and it did it again when I went to take a turn is there something wrong with my Tacoma or am I doing something wrong? Please help....

 

Are you using 4x4 on dry pavement?

 

No only turning 4x4 on in snowing conditions

 

Its normal if you have it cranked pretty hard , try to open the steering to make the turn radius as wide as possible or shift into 2WD

 

Not cranked hard just taking normal left and right hand turns