Richard, I finally fixed the problem, although it could have been one of the two things I did that stopped my wheels from locking on tight turns. First my differential fluid was about 300 ml low from the leaking seal. I then proceeded to drain the differential fluid and fill it up with new fluid, the factory synthetic stuff. Secondly I removed and cleaned out both ABS sensors on the rear wheels. Next I took the car for a test drive and the jerking was there for a bit intially, but then as I drove it around a little more it went away. I only wish I had done one repair then tested it instead of doing both repairs and then testing it, now I don't know which repair fixed the problem, hope this helps.

Thanks to everyone that responded to my original post!

Kristian.