4x4 warning light when i turn (maybe my 20's?)

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I have aftermarket 20's on my X3 and when i turn and am under on the gas or going at a decent speed i get a funny noise that and feel to the steering wheel. Almost like ABS is acting up and trying to make an adjustment.

Yesterday coming off interstate ramp i was corning hard (i forget that the X3 is NOT the M3 i traded in )and my 4x4 warning light came on when it made that noise and a little rumble. Almost like its rubbing when i corner hard but there is still alot of clearance?

Anyone have this trouble when moving up to 20's ?

Here is pic of car