Have you checked for any stored fault codes?
Originally Posted by outdoorpodcast
...its kinda similar to having 4 low on while turning on pavement....
That is a good description to help other understand what the symptoms are in your vehicle, BUT, just so you know; Driving in 4 Low on pavement can screw up your drivetrain something awful, if you've been doing this you need to stop, it specifically says in the O.M. not to use it on pavement.
But, what you describe does sound like driveline binding in 4 High, when you should never get it.
If you have the Hemi you likely have QTII or QDII. Both have a xfr case with clutches that can limit slip and even lock front/rear driveshaft outputs. That is why a previous poster is suggestion fresh fluid in the xfr case. BUT, I "think" the clutches in the xfr case are disengaged most of the time, I don't think they are likely to be catching more than they should just from degraded fluid, but I could be wrong.
QDII has clutches and pump in the differentials to limit slip and lock the differentials, according to electronic inputs. I have seen posts on driveline binding like you describe on QDII Commanders, and the O.P. reported fresh axle fluid fixed the problem. You have to use the correct axle fluid and add the correct amount of mopar friction modifier to the fluid. I guess as the fluid degrades, its doesn't let the clutches slip as easily as it should when turning at very low speeds.
Remember this is if you have QDII, count the bolts on the rear axle cover, 10 bolts = QTII or QTI, 12 bolts = QDII. If you have QTII or QTI, the axles are open differentials, something would have to be seriously wrong inside the differential to bind at all, and likely your problem is else where.