Grinding gear noise on 2016 dcsb trdsport

Hi all. Just got a 2016 doublecab sb with manual trans (trd sport) . I was backing out of a driveway and i got a gear grinding noise ( think shifting without clutch noise) when i cut the wheel all the way to the drivers side lock to back onto the street. The driveway is a hill upwards from the road. The truck is second hand but pretty much new (23k km). Is this something i should accept? Scared the shizat out of me when it happened. Everything looks good underneath.

Ive also noticed since then if i have the wheel cut all the way to either lock if i go through a pothole it clunks like an oxcart ( far more than if i just hit the hole head on). Seems like this could be the coilovers maxing out in the front but not sure.

My last taco was a 2wd access cab and never heard either of these noises.

Have to be honest ive always wanted a trd but some of the shine is wearing off . Any thoughts?

 

Dude. Check to see if you are in 4HI.

 

If you want help, you need to list all mods, tire size, wheels, etc and exactly what truck you have.