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The suspension joints have some compliance. When you turn your spinning tires want to continue going strait (require force to turn). In addition the contact patch friction of your tire resists turning. Apparently the combined forces are enough to move the location of your tires relative to the car's body to eliminate the clearance between the tire and the body. The lean of the body on the suspension relative to the tire is also a factor (maybe even the biggest factor). Short story: other factors come into play when you are turning vs. going straight that conspire in your case to eliminate tire to body clearance.
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