'07 3.0 wagon shuddering when cold and turning

Car is a 2007 Spec B 3.0 5eat wagon, 140,000km, I've only had it 2 weeks. When I reverse it out of my garage, I have a short driveway turn bay, and need to turn it to full lock straight away and I can just get it around, then drive down the driveway forwards. When I do this, the car shudders, mostly I can feel it from the front, like the wheels are trying to pull sideways across the concrete? A similar way it feels, is like when you try to push a car with a locked diff around in a tight circle. So I've taken to doing a three point turn out of the garage onto the driveway so the car doesn't do that, as it can't be good for it. Is it the auto gearbox not having enough oil pressure first thing? Is it something to do with the all wheel drive diffs not having enough oil pressure first thing? Something else? If it's just what they do, that's fine and I will drive around it, but trying to get the Missus to understand and drive accordingly is impossible. She'll do it out of the garage because I've told her to, but if she is somewhere else and I'm not there, she'll just crank it on full lock and go.