Pop noise tight turning. Clank/thud turning & shifting.

What is your question?

The popping in tight turns occurs when turning right and left. The clank/thud can be felt in the floorboard when turning and backing/forward when shifting from Drive to Reverse or vice versa, think 3 point turns in and out of driveway or parking spaces. Its been checked out at the dealership multiple times. The most they have done was lubing the wheel/turning stops. But it doesn't go away.