This exact issue happened with my '21 GCL SR V8 with 28K miles this past week. I drove my family from Minneapolis to Denver where I heard a knock and felt a jolt in the steering wheel when pulling into a parking spot upon arrival in Denver. It occurred only when turning the wheel at least 10 degrees, as the OP also noted, so I didn't notice it on the highway. Throughout our stay in Denver it consistently had this issue when turning the wheel left or right past 10 degrees.
We then drove to Vail and noticed the knocks/jolts happening at a greater frequency at various steering angles. It was very noticeable while navigating the tight parking ramp at our hotel. It definitely had me concerned about the safety of the steering system, especially given the terrain in which we were driving. Numerous audible knocks could be heard both inside and outside the vehicle and steering wheel jolts could be felt while turning the wheel lock to lock.
Now that we are back home, the steering system is functioning normally and no knocks/jolts can be heard or felt. That said, I would really like to figure out what is going on with the vehicle to determine if there is an issue with the steering system. I'll likely be taking it to the dealer to have it checked, but given the issue cannot be reproduced now, I'm not confident they will be of much help.
Aside from this, I've had only a few minor issues with the vehicle (infotainment glitches mostly), certainly nothing mechanical.
If anyone, including
@JeepCares, has any ideas I would be grateful for your help.