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Usually it is the electromagnet that engages the hydraulic circuit/piston getting weak. A new solenoid fixes it. Or the piston itself is "sticky" and engages all at once. It "delays" engaging the circuit, then BAM it does it harshly.
Sound right?
Try hitting the throttle immediately after you ask for reverse from park. If you can count a second, then "bam" that's not the driveshaft
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