I get a similar noise on my 2004 Gallardo when close to full steering lock - always have done. Yes, I believe it is to do with the all wheel drive.

(Or alternatively have you checked to make sure you don't really have a tyre hitting a guard !!)

However, I was recently given a tip by my local Lambo service guy, to use Slippery mode when doing tight manoeuvres getting in to and out off tight spaces. This makes a huge difference (at least on my car), and has eliminated nearly all of these "noises". I had always thought that this mode just made a smoother and gentler clutch engagement, but I received some other info that it may also effect how the front/rear transmission clutch operates and the torque split between the two. Anyone have any further knowledge of this?

Regardless, I always now select slippery mode when doing these sorts of tight manoeuvres. I was originally a bit concerned about using this mode 'cos I thought it may unduly increase clutch wear, but this has not proven to be the case, judging by measured clutch wear - it's fine.