Is you jeep Quadra drive? If so, then don't forget to put the limited slip additive in the diffs. No additive or not enough of it, will cause skipping of a wheel in tight turns.I need to change fluids in my TC and diffs as well because I'm having the same issue. Lots of groaning and some shuddering when I'm taking tight turns in my parking garage. Just bought the Jeep from the original owner with 65k miles and figured it'd still have the factory fluid in it, but who knows.