Clunk sound when shifting to drive

Hi! so I just got this 2016 Tacoma trd, i recently got the oil and transmission fluid serviced at a Toyota dealership. but anyways, i have a problem where when i shift to drive, there's a clunk, doesn't matter where i shift from it just clunks on drive. I have done every trick like shifting slower, putting it in N first but nothing works. also I promise it sounds louder in person than the video shows, i recorded it by a very busy interstate. I also have dealer power train warranty for 4 years but i want to see what you guys think before i go to the dealership and run the risk of having to pay a diagnostic fee if theres nothing found. thanks!!