Clunk noise when shifting from 4H to 2H(Manual transmission)

My Manual Transmission Taco makes a distinct clunk when I shift from 4H to 2H on the fly. Im sure Im doing something wrong. How to correct?

 

When making the switch take your foot off the gas to take torque off the driveline.

 

Pretty standard really.

There's a couple of large locking sleeves and such disengaging as stated you can reduce the clunk by minimizing bind by having the wheels straight and off the gas and with a manual clutch in when shifting in and out of 4WD.

 

Mine does this too. Not always but I always try to make sure my foots of the gas and I’m not turning the wheel or anything.

 

Thanks all. I do all the things suggested and sometimes it disengages quietly(Ive done it right) and now and then not. If I hesitate(let the transmission quit spinning) with the clutch pressed....then disengage that seems to help. Just thoght there was a right and wrong way of disengaging. Sounds like I am doing all I can. thanks to the group. SR