Rainiers did not have 4WD.Is this AWD? Do you have the selector in A4wd? Sounds like your front axle is binding to me.
The AWD is Electronic (like the Bravada). The most common cause of this is the Transfer Case (Encoder Motor) not disengaging front axle when not needed.Its not stalling, a hard clunk then it stops.
I'm in process of changing upper ball joints, but as a new backyard mechanic, it's tougher than it looks, and can only do things when I get some other help. Thinking about changing diff and transfer case fluid.
This is an AWD Rainier