I was hearing this clancking noise when I stop, turn to right, turn wheel slowly

Trans. fluid level check? I would speculate that your transmission might be crying for help/service. Some of the XC90 suffer from premature failure partly because of some drive axle cross contamination w/ ATF. I would suggest to take it to some that has a factory level diagnostics tool. To rule out a possible electrical malfunction and maybe they look over the vehicle before it becomes inop.