Hi

I’m getting a clunk/slam when shifting Park ↔ Reverse on my 2015 Jaguar XJL AWD. A couple of observations from testing:

• If I raise the rear wheels off the ground, the clunk disappears 100% and shifts are smooth.
  
• With the car on the ground, I had someone shift P ↔ R while I watched underneath and I could see the rear differential move each time torque direction changed.
  
• While driving, I can feel the gears changing (especially when the engine is cold) shifts don’t feel normal and there’s a harsh engagement similar to the slam I feel when selecting Reverse. otherwise feels normal; no obvious slipping or hydraulic issues, so the torque converter/transmission seem OK.
  

From what I can tell, this points to worn rear differential bushings (especially the front/nose bushing) allowing the diff to rotate under load. I Checked two Bushings they seem ok I could not see any cracks

 

Dealership wants $37.00 each for the differential mount (#5) haha! I wonder why so cheap?

 

The first thing to check is all of the u-joints. They are the most frequent failure point. An experienced mechanic can check all of the drive line and axle joints in about 15 min.

 

I've uploaded videos of torque converter and transmission when shifting Park ↔ Reversenotice how the transmission barely moves and there is a lot of movement in the torque converter