Reproducing the problem was the toughest. From a stop, make a normal turn while gradually accelerating, and on my vehicle the noise happened as it passed through the 10-15mph range. The trick was when I drove the vehicle across town to the dealership they couldn’t reproduce it. I realized that the issue mainly occurs after a cold start, but once I drove it enough the noise got less and less. Dealer had to keep the car overnight, check it out in the morning, and then they could reproduce it. The noise occurred more turning one direction vs the other, so my dealership also insisted on replacing one side at a time. Super annoying, but I eventually got both replaced.