The doors lock with a clunk after driving off , but everytime I slow down then accelerate, 4 click sounds come from the doors. This happens everytime when I stop or slow down to turn.

 

To do a worthwhile diagnosis will require a capable scan tool to check the modules and their settings.( price range $2,000.00 +)

This feature can be examined with a capable scan tool under "Special Functions".
Best to have a qualified shop check it out.