A truck question

I have a 98 Ram 4x4. It's your standard 318 auto with a 9 1/4 shur-grip rear. My problem is when I start to go and I am turning I get a rubbing noise from the rear. It does this when I turn left or right but not when I go straight ahead. It also doesn't do it when the drivetrain is cold, only after it has warmed up to operating temps like after I have gone 5 miles on the highway.

It also seams to have a shudder in the rear like the clutches are slipping in the shur-grip. This only happens when I start from a dead stop on pavement and not if I really nail it.

Anybody got any ideas on these 2 problems?

My thoughts on it were.
1. The bearings are worn at the outer ends of the differential.

2. My shur-grip unit is starting to wear out.

The truck has about 115,000 miles on it.

Jack