on a 2001 gmc 4x4 with auto transfer case i can shift my truck from park to drive and there is no lurching

occasionally when i shift from park to reverse the truck will lunge backwards and makes a clunking noise

(i checked the ujoints and they are tight)

any further suggestions?

 

The clunking noise could be a worn motor or transmission mount.

The lurching when going into reverse... How violent is it? Vehicles can vary in how much play and/or hold they have in forward and reverse. What may seem excessive to you may be perfectly normal.