Update:
I drove my truck tonight. I hadn't started it since Saturday afternoon so I started it, allowed it to idle a minute or two, then shifted it into R. I deliberately rolled down the windows to listen. My truck won't fit in my side-entry garage so is parked under a low metal carport and only 18" from a tall wood fence. Combined, the garage door in front, carport overhead, and fence to my right should contain and reflect any abnormal sounds. The shift to R was not overly firm and I heard no clunk or other objectional sounds.
Later, I shut down and started the truck twice more with it at operating temperature and felt or heard no objectional jerks or clunks.
I even tried it while fast idling at 900 rpm. My Park/brake pedal interlock is disabled so at 900 rpm I simply grabbed the shifter and moved it to the R position. No brake application required. The ECM recognizes when the shifter moves from the P position and immediately disabled fast idle dropped idle speed to 700 rpm and when it went into R it loaded the torque convertor and drive train as expected but no abrupt jerk and no clunking sound was felt or heard.
Maybe some of them have slightly wider clearances between ring and pinion in the differential or other drive line slack.