I noticed this noise recently that sounds like a "clank" coming from the rear end or in the passenger's side wheel well when I shift into reverse from park or into drive from reverse. I also rarely have noticed it after it has shifted into gear and I give it a little gas. Is this a normal sound from the tranny engaging?
Thanks in advance for any help.

 

It's a common problem with the rear half shafts. They need to lube the spline where the shaft enters the hub. That will take care of it.