Loud clunk shifting from P to R

dcar1017

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2010 CX-9 GT AWD
Hi all - Our 2010 CX9 GT AWD (51000 miles) is making a very loud clunk sound when shifting from P to R. It's parked in a flat garage and we always use the e-brake, so it's not like the car is resting on an incline. However, it's similar to that sound/feeling when you do park on a hill and don't use the e-brake, though - but MUCH louder. I heard it loud and clear from inside my house when my wife was in the garage backing out. We tried it several more times and it happened a few times and then stopped. Anyone else experience this and/or have any recommendations? Hopefully this isn't the transmission on its way out.

We have been watching the car closely in general, waiting for the transfer case or brake booster to go, as our VIN is eligible for both repairs. It makes a slight whine around 60mph on the highway (goes away at higher speeds) but we're not sure if perhaps that's the tires as they are still original.
 
This is likely not a transfercase problem since it happens when the vehicle is stationary.

1st Q: have you have the ATF replaced? (@50K so far)?
That would be the 1st thing I try, and dealer will likely do the same thing if you ask them.

2nd Q: Most people have the procedure wrong - including me - to save effort.
Most people stop the vehicle (foot on brake), put into "P", press the e-Brake, and let go the foot brake.
What experts suggest: stop the vehicle (foot on brake), put into "N", e-brake, let go foot brake slowly, (if vehicle is not moving) put into "P".
The latter process does not put pressure on the gearbox. Hence, it goes smoother to put into "R" on your next drive.
This pressure could strain your gearbox over time.
Try the latter procedure a few times and see if the loud clunking still happens.
 
Why are you using the ebrake every time, if not parking on a hill?

We had the occasional thump from P to D or P to R first thing in the morning. Since the ATF change we did at ~55K, it is not longer present.
 
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