I can see if you have a double-wheeled bogey where each wheel can rotate independently you won't have a problem scrubbing the tyres.
I didn't say put a load of TR thrust on - some sympathy and skill is assumed - if you are causing large bending stresses on the boom you are certainly doing it wrong.
Would you sit and scrub the tyres on your car by applying full lock or would you move forward and then steer? Both work but one has some level of finesse about it.