Should you be concerned if your truck is stuttering in a turn? HELL YEA!
Are you driving it on dry pavement? If so, please stop! Only put it in 4x4 when you are on a slick surface. All your tires are trying to rotate at the exact same rpm's. There is some wheel slip, but not enough to let you take a turn without your truck stuttering. You don't notice the stutter when you are on a slippery surface as the truck's tires are slipping as you are making turns.