Drive shaft clunk from reverse to drive

My 2011 Tacoma just started to May an audible clunk and a physical clunk can be felt below my feet when I shift from Reverse to Drive, or anytime it's initially put in drive

Any suggestions welcome. The drive shaft looks ok?

 

U joint play or ring and pinion play are the usual culprits.

 

Are you positive it's not the brake pads shifting? Hopefully you're braking before you shift, or you could cause serious problems.

 

Park on level ground and block the wheels on both sides, with engine off, put truck in neutral and crawl under truck and grab the rear driveshaft and twist back & forth, you should be able to hear which u-joint is bad or if it's in the rearend.

 

Read what Spicer has to say about greasing your driveline . I am certain that Spicer still has the Toyota contract . They make all your driveshafts
http://www2.dana.com/pdf/J3299-2-DSSP.PDF