It's funny how I was thinking 3 hours ago that I was in for a huge transmission repair until I checked out this forum.
If you either hear a thud in the front, unsually under the gear shifter, or near the back, it is almost 95% likely that it needs a lube job. For me, it mainly happens when I release the breaks from a dead stop. In some instances, I hear a thud when slowing down. If the thud happens before I stop, then when I take off from the light, there is NO thud....either way, the thud screws you! You could glide or stop abruptly and it never seems to go away. Anyways .............there are about 6 or seven locations that can be lubed so I would ask and watch the "lube tech" to hit each of those points. If you scroll down to the other postings, one of the other members has a link with pictures that does a good job explaning the locations for each node.
You must mention at the dealership that you want to grease all the joints and make sure they do it by YOU either watching for a grease gun in the tech's hand, or in my case, I just went up to him and asked to do it. He couldn't find a few of the locations until I pointed it out. You must cross your fingers and hope the dealership has techs that are experienced in doing this simple task.
It's really simple once you've seen it...next time a few bucks will take care of a huge annoying problem........