On most AT's, if there's any pressure on the transmission from sitting at an angle or any force being applied on the "park" gear, you may get a slight clunk from that pressure being released. Try leaving the car in D or R, set the parking brake, then put it in P. That should eliminate that noise. Also, just a bit of driveline play may be in the diff and tranny prior to putting it in D or R. The slack disappearing could be the source of the clunk as well. Try the first thing, and see how that works. This is extremely helpful when parking at any sort of angle.
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