I will eventually get to this. But - for those who have the clunk / delay / slam into reverse - if it's mainly from Park, try this if you need to buy some time until you get this repaired (I got in the habit of doing this with another vehicle for a similar issue, different cause).
Never, ever shift from Park > Reverse.
Instead, shift from Park > Drive, wait a couple of seconds, then shift Drive > Reverse. You'll note that that engagement is a LOT softer (kinda equivalent to Park > Drive).
If that doesn't help, try extending by a second or two - if it still slams after, say 5 seconds in Drive, then this probably won't help you... but I've been doing it for four months now since I got this '02, and it works
every time for me.
Also, don't take the vehicle out of Park when it's running at high idle...let it warm up a few seconds and kick down to a more normal idle. Should only take a few seconds, unless we're talking dead of winter.
Now that I write about this, I realize that I do it with any car that I drive. Not that you need to do this with every car - it's just a habit I have, just in case the vehicle in question might have a problem. And I do think it's better for the life of the transmission.
I'm hoping I can get through the winter with it; then I'll do this repair in the spring. The trans shifts reliably through the gears and I never have any trans-related codes pop up, so maybe I'll be lucky this winter
I've just spent so many weekends this summer working on things on this truck, that I just want to take care of a couple of last things before winter, and leave this until spring.