What you are describing sounds as if you are in 4WD and trying to make a tight turn on dry pavement. Since the front differential doesn't allow the wheels to turn at different speeds the wheel on the inside of the turn tends to bind up. Seeing as you are in 2WD though this shouldn't be an issue unless your Rodeo has TOD and it's acting up.
Have you tried looking at the front end as someone else tries to reproduce the problem? It may be very obvious once you are out of the vehicle and observing how the front end reacts. Sorry I couldn't be more helpful though.
