I'm pretty sure its the physical movement of the whole engine and transmission when you go from D to R. When you change from D to R, you will notice if you take ur foot off and dont accelerate, the car will move in reverse on its own without making the clunking noise. Once it starts moving, then you can accelerate without a problem.
To fix the issue (or at least reduce it), there are many engine mounts and engine mount inserts you can buy, which reduce the engine movement.
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2006 Golf GTI DSG | REVO Stg2+, REVO Stg 1 DSG, X-FORCE TBE, K&N Typhoon CAI, AT HPFP, Forge Twincooler, BSH Stg2+ Catch Can, ECS Mount Insert, DBA 4000 Slotted Rotors
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