what would cause a popping or jerking sound from drive to reverse or park?? on 2013 Hyundai Accent

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When I put my car in reverse or park from drive it pops and sometimes jerks
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I have the same problem with my 2013 Accent. the car jerks when shifting (reverse to drive or vice versa). This happens only once a week or so. Did you find out anything from the dealer in terms of cause? This will give me something to go on when I bring the car to the dealer. I'd like to fix this before warranty is over. Thanks in advanced.

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