As far as I can see, this is not a safety issue. The first time that happened to me, in a Lowes parking lot, I stopped the car to check for damage thinking I may have been hit in the right front as I shopped. With no body damage I checked the security of the inner fender panel, it was in position and properly secured as well so I drove home. At home I jacked up the right front to check the suspension. The ball joint and tie rod assemblies were tight and secured properly. It has happened a few times since in the specific circumstances under discussion.
My speculation is that this is a manifestation of the outer CV joint design and manufacture. It appears that the rotating balls hang up and release in this turn and add power scenario. All cars have idiosyncrasies this is one on the Palisade, not a defect, just a glitch. There is no straight line vibration or catching/clicking in normal driving. If that happens, it is time for replacement. Replacing the CV joint just for the sake of replacement with the same part would be a waste of time and resources.