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Recently I noticed going from Drive to Reverse it feels alot harder than normal. I always noticed a slight bump going into reverse but this is much different. I come to a stop and going from D to R without going into neutral and it hits hard. I tried going from D to N to R and it was alot smoother but when I go from P to R it hits hard. It's almost like it does it when it wants to but this just started happening. Trucks got 130k, Trans was serviced at 100k. Other than a hard hitting reverse the truck drives great, fluid smells fresh and not burnt.
I have had that on occasion, but I believe I can correlate the hard shift to having "tension" on the axles, such as being on a slope slightly up/down hill or being pushed up against a curb. I usually take a second when shifting from D to R or back again. If you have 4x4 it may be the transfer case banging around, which some would say is normal.
The ten speed in my truck shifts pretty firmly from D to R and back when it is cold first thing. Smooths out reasonably well after that. I just make sure I am firm on the brake moving around the driveway