Ford: all wheel drive, friction modifier, synthetic gear

Question
I have a 2003 Ford Explorer Limited AWD. Every time I move forward at low speed in a turn I feel a 'scrubbing' sensation in the front wheels. I took it to the local dealer and they found nothing. The sensation is only noticable at low speed in a turn and only when starting from a stop. Once moving above about 10 mph there is no sensation and never when moving straight.
Is there any way I can determine if the AWD is malfunctioning?
I was a pilot for 30 years so am fairly familiar with machinery, especially when it seems it is not working correctly.
Any help would be appreciated.
Thanks


Answer
Mike tell your local dealer that there is a TSB out on this and they want you first to flush out the front and rear diff. and put in 90w-140 synthetic gear lub and a can of friction modifier. just forget about them you could do this yourself .the front takes 3qts and same for the rear .and when you put the covers back on scrap off the gasket and just use silicone that's it and you have to drive it for 100 miles .let me know.