OK I may have the solution for you. I found this out when I installed my front ARB. As it turns out the front cv joint on the front drive shaft is very close to the exhaust. Particularly a small heat shield. The service manual was not very clear as to the position of the front drive axle mounting washers or spacers. I had inadvertently installed them wrong causing the front drive axle to tip just slightly after installation. When I would turn especially in 4 low the front axle would shift just enough to allow the propeller shaft bolts to contact the heat shield on the right side exhaust pipe. Once I put the washers/spacers back in their original position no more problem.
If your front drive axle mounts are worn or the bolts are loose at all (I would not take much) this could cause the same problem. You have to look closely and the place where the rubbing occurs is kind of hidden but it is very obvious when you find it, It will be a shinny spot on the exhaust heat shield above the front cv joint near the output of the front drive axle yoke.
Todd