2002 Ford Explorer "Crabbing" when turning a shar

My 2002 Explorer XLT runs and drives great, but nearly always when I make a sharp turn such as at a stop sign at an intersection it feels like the same sensation as when turning with a 4x4 on pavement. This occurs from a dead stop or at slow speed. I don't usually feel it when driving on roads having a lot of curves, and if it does occur then it's much less.

I have supported the front end to raise the wheels and feel no play in the suspension or ball joints, and only a very small amount of lash in the steering linkage which seems to be in the gear train portion, not in the wheel-to-wheel linkage or tie rods. All the suspension system rubber bushings seem tight and look good. I also feel no play in the front wheel bearings. I have not checked anything in the rear yet.

I bought it from a dealer at 90k miles and did not notice this at first. I do see that the rear tires have uniform wear on the inside and outside edges of both tires, and I am assuming they were recently rotated to put the better tires up front where they are more visible.

I would appreciate your comments and suggestions.