What would cause the rear passenger wheel to skid on the pavement?

Today, I was witness to an accident, so I pulled off the side of the road into sand. When I went to leave the scene of the accident, I realized that the sand was too deep to drive out of in reverse. So I put it in 4WD Lo. I pulled out of the sand with no problem. As I was doing so I was reversing to the right. I got the rear tires out of the sand and continued to back up onto the pavement and I heard a loud clunk. I immediately stopped and put the transmission back into neutral and switched it back to 2WD. I pulled forward and everything seemed ok. As I went to make my next ninety degree turn, it felt as though I had a flat tire. It was sluggish and there was a low clunking noise, which could also be felt in the steering wheel as a back and forth jolt.

I got the Jeep home and tried to visually inspect it for problems. I tried turning in all gear settings, as well as, turning, driving straight, in reverse and forward.

The passenger rear tire seems to be locking up and skidding across the ground, and then it will release and turn with resistance for a short while and then lock up again. It only seems to do so when turning. In both forward and reverse. The sharper the turn, the more resistance to motion it has. To the point that if you fully turn the wheel in either direction, you have to apply about 2500 rpms before it will start to move, as before it would move at idle. (Roughly 700-1000 rpm)

I have read in a few forums that it may be the diffferential or the spider gears slipping or sticking. I've also read that the sticking is suppossed to happen in 4WD, and because of it being on pavement that is causing the clunk noise and the sticking. Problem being, it does it even in 2WD.

If you need more information I will be more thatn willing to give it, to the best of my ability.

Is this something that I should be able to troubleshoot and repair myself?

If so, where should I start?

If not, should I take it to a shop and what should I expect as far as repair cost.

Any help in this matter will be greatly appreciated.