My 06 SE has been doing this thing ever since I bought it. When turning the wheel to its full stops right* only, not left, and then inching forward at slow speeds, something down in the chassis area groans loudly. The 4R is all stock and all proper sizes.
Edit: I can't believe I had that wrong but I edited to remove that this happens when turned left or right. *It's only when turned right.
Without knowing all the details and not being there I am going to guess you have a bad wheel bearing.
Jack the front wheels up one at a time and rock the tire up and down with your hands on top and bottom of your tire. You should not have any play. If there is play you have a bearing going out.