Somewhat. Do you have over sized tires on stock rims? If so, they might be rubbing the lower control arms at full lock. If that is the case, install a couple of 3/8" flat washers behind each steering stop.
My tires chirp on full lock and its due to ground you are driving on. On the street my tires dont chirp, but in parking lots on smoother concrete it will chirp. At least for me I know its not rubbing on any suspension components.
__________________ Yellow 04 LJ 4spd Auto:
-HPD30 w/ Aussie Locker, Alloy USA Chromoly Axles, RuffStuff cover, Reinforced Tubes, 4.88
-D44 w/ limited slip
-1 Ton Crossover Steering w/ Hiem Joint ends
-33" BFG KM2 My Build Thread
The reason your tires chirp and skip in 4wd is because of the u joints. You'll find that if you drive in 4wd without a rear driveshaft you get the same exact chirping/hopping. In 2wd when no power is going to the wheels it's not usually felt, but a bad u joint might be exaggerating it.
CU Boulder Aerospace Engineering