Clunk and lurch when shifting to Reverse/Drive

Apologies if the video isn't the most helpful. I'm hoping that the movement of the driveshaft is helpful in determining the cause

Car: 2003 Sequoia Limited - 220K miles

Issue:
When going into reverse/drive from any other gear, the car will make an audible *clunk* noise accompanied by a slight lurch. The lurch is not terrible, its almost like a thud feeling than an actual back an forth lurching movement. It almost feels like you are in reverse and you let you foot off the brake for a micro-second and then reapply the brakes.
The clunk noise is not super loud, but definitely audible.

I cannot seem to find anything online that is a definitive resolution to this other than people recommending new U-joint, bushings, or transmission support

I have already checked and made sure the support bar holding the transmission is not loose by checking the bolts up in the slot underneath. That is fine

Any help appreciated

https://reddit.com/link/1rcljay/video/cpfy3pw2q9lg1/player