It's highly likely that this is the trnsfer case causing this. It was an issue with L405 Range Rovers and mine had it. You need to change the transfer case oil and recalibrate the transfer case. Of course, it could be the same sort of issue with the rear locker, which is the same sort of clutch system as in the transfer case. 
The symptoms you describe are exactly the same as mine, which was the transfer case. Always when turning at low speeds with slight acceleration or after four wheel driving.
There were instructions in Topix on what dealers had to do to fix it. That is what my indie followed and it hasn't returned in nearly 80,000km. Mine was at less than 40,000km at the time.
				
			 
			
		 
			
				
			
			
				Bob
2010 D4 3.0TDV6 SE, ediff, LLAMS, 5 x GOE wheels, LT285/60R18 BFG K02's, GOE Compressor Guard, LR Tank, Mitch Hitch, ECB Bull Bar, Kaymar Rear Bar, Traxide, Safari Snorkel.
2019 Discovery 5 SD6 SE, 20 inch wheels, 275/55R20 Nitto Grappler G2 tyres
			
			
		 
	
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