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I back out of my garage up a slight hill every morning. When I switch to Drive, I get a very distinct CLANK.
Here are a couple of possibilities:
(1) When you put torque into the transmission in reverse, the gears generate a load in one direction. This is often the opposite direction of the loads in drive. Since the countershaft is supported by a single deep groove ball bearing, you would get a metallic noise when you make the load direction change.
(2) There is a shift sleeve that toggles between Reverse and 5th. Engaging and disengaging this has the potential to make a clanking noise.
It is slightly annoying and absolutely harmless.
I've spent 10 years designing parts for automatic transmissions. The best way I could characterize Honda's design practice is "quirky".
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