When the tires are super cold they will basically skip at full lock. I bet there is nothing wrong with your car. When I got my car late winter last year I was like WTF is that???!!! Come to find out they are just skipping due to being cold, once warmed up they wont do that. But if it is truely "grinding" as in your description then that is a different story. But the other description of being on rocks and jerking then that sounds like cold skipping tires.
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