I know what you are talking about.

This only happens if you shift from R->N->D while the car has momentum, whether slight or drastic.

Its a loud CLICK which occurs within the first 1 or 2 seconds of driving in D. Definately transmission related.

To overcome it come to a full stop when reversing and change gears although i get the click 8 times out of 10 because i cant be bothered waiting.