car makes a vibration sound sometimes when shifting from 2nd to 3rd on 2008 Jaguar XK

Randomly but mostly when driving at slow speeds or during uphill travels. It also sounds like a reverbance sound from the drive shaft. Dealer said other XK Coupe models have been known to make same sound, but the sound doesn't sound natural. Please help

Asked by for the 2008 Jaguar XK