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My 2005 polaris Sportsman 500 does this in the winter when plowing, but only sometimes when pushing the override button to go backwards in 4x4. A friend told be to check the differential fluid levels in the rear for my machine. Have not done this yet.
Sounds like you have ball joint or steering linkage problems..have some one set on the seat and make hard turns right and left while you watch for excessive movement " linkage or ball joint slap " before the wheels actually turn..or jack the front end up one side at a time and with the steering wheel strapped in place"bungee chord " move each wheel up and down and left to right..find the excess movement and go from there..good luck