So I have a clunk when shifting from park to reverse or drive. I have read multiple posts that the most common cause is worn out u-joints, but when I crawl under the vehicle I could not see or feel any play in any of the joints. I also regularly grease them every 10k miles.

I'm wondering if maybe it is the transmission or one of the diffs. The weird thing is, when I cold start the vehicle and shift into R or D the clunk is completely gone and it is very smooth. Only when I have the vehicle up to operating temp the clunk comes back and is obvious. If it was the u joints I would expect it to do it all the time? I have also read multiple threads about people complaining that their vehicle shifts hard when cold and smoothly when hot, but mine seems to be the opposite of this.

Here is a video of mine that I filmed from different angles. Maybe someone who has knowledge can tell if anything is moving too much/has abnormal play? Any advice is welcome and I would greatly appreciate anything. Thank you

3rd gen 4runner clunk when shifting - YouTube