Why is my truck making a clunk when I shift from park to reverse on a cold start

What is your question?

Whenever I start my truck cold it clunks from park to reverse. It stops after it has warmed up. It is a 2016 Tacoma. The ATF was changed 3k miles ago. What could cause this?

What makes this problem better or worse?

Worse when the engine is cold

How long has your 2016 Toyota Tacoma had this problem?

A few weeks