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Jolts and clunk nose when selecting reverse

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Hi, Can anyone give any advice, My XF only gets to be backed out of the garage and put back in at night , ( not used in the week ) but when selecting reverse from park the car jolts and clunks for a split second, and the same when put back into garage, i wait for the revs to settle before selecting reverse.

When the car is used at  the weekend it seems to stop and selecting reverse and drive are nice and smooth. The car has done 39000 miles

Anyone any ideas ???

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