Like
@cskindt said, this sounds like a CLASSIC case of a limite-slip differential that is missing its friction modifier.
Thumbnail sketch: your limited slip internal clutch is "too grippy". That locks both tires to the same speed. During turns on pavement, something has to give, so one tire will skip, pop, lurch or hop. That's far better than having an axle crack.
The fix is VERY easy: add the appropriate amount of Mopar friction modifier. Something like this:
https://www.amazon.com/Genuine-Mopa...hvlocphy=&hvtargid=pla-4584482468493900&psc=1
It's common and widely available. Toss it into the fill port on the top of your rear diff. An auto parts store may do it for you. Tip the guy.
Now, why did it happen? Maybe someone forgot. Maybe someone didn't know you had a limited slip differential. (Not every truck has one.) Maybe someone thought the "LS" prefix on the differential fluid was enough. ("LS" means limited slip.) Some diffs are okay with just LS, some need additional modifier.
TL;DR: buy the $10 bottle of friction modifier...available almost anywhere...toss it into the fill plug on the top of your diff. You'll be fixed, and your wife will have those feelings rekindled. Send the kids out to the lake to fish...