Welcome to the forum from Oregon.
Have seen threads about this many times and appears that mostly it is the wheel speed sensor and is caused by a problem with the hub bearing. Loose hub bearing. If you drive straight and turn slightly to the right as you do, that loads the lf hub bearing and the opposite for the other side. Does the lights come on, when they don't come on right away, right after turning?
We recommend that you put all your rig(s) info in your signature so we all don’t have to guess at year, make, model, engine size, trans, rear axle locker…….etc. While you may have posted pertinent info in your first post, you may forget to do it again and the info is needed by us anyway. Makes it way easier on all members that attempt to help, to have that info right up front. It is also recommended that you take a pic of your RPO codes, on the inside cover of the glove box, and post that image in your signature. All this info will greatly help those that will try to help with a problem.
If there is any other info, like upgrades, mods or recent mechanical/maintenance work done, that would be helpful in any post as well. Too many times a question is asked by the poster and after about 10 responses we find out that the poster has done recent work to attempt to fix the problem or work that was done that SEEMS not related to the problem.