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I'll bet this is a quirk of the Ackermann angle. When you're turning, both front wheels follow curved paths, but the inside wheel follows a tighter curve, so it has to steer sharper. The geometry to make this happen is built into the knuckles (where the tie rod attaches vs where the knuckle pivots). The farther you turn, the more the Ackermann kicks in. This also means that any error in the geometry will show up more the farther you're turned. Anything suspension-related tends to be at its worst at the limits of its travel anyway. I'm guessing the steering angles at full lock don't quite agree on how tight of a turn you're taking, which means one wheel or the other has to slip, which is more dramatic on the polished concrete than it is on normal road surfaces. Strato's wheel offset is an interesting wrinkle to this. Changing the offset wouldn't change the angles, but it would change the curve of the paths they're on--evidently enough to get them closer to where the wheels are pointing. Now that I'm thinking about it, I don't think I've ever driven mine in a parking garage, but I have noticed that it disturbs gravel more at full lock. Probably the same thing going on. In any case, Ackermann is not adjustable (apart from racecar stuff), so I'd file this one under It Just Does That. It's also possible I'm full of crap. But if you're not in 4x, then it's not torque binding. If a tire was hitting something in the wheel well, which would make sense with it only happening at full lock, I imagine you would've noticed the noise or seen the shiny spot. I've heard of the rear limited slip chattering if it's got the wrong lube in it, but I wouldn't expect that to only happen when you're against the steering stops.

My Xterra has done this forever... I think it is a normalish thing for solid axle part time 4wd vehicles.

I'm going to say this is normal because my parents are the original owners of my 97, and when I started driving it my dad always warned me about taking corners too fast for that reason. Since getting some Offset wheels and the lift there is no more of this wheel hop at all. My dad would say it was always on the right hand turns it would hop the most for him.