So I just had the same issue but in a different scenario. Car not moving, feel like I'm hit from the back when I put the car from Park to Drive mode.
I shot a video here (put the sound loud, you'll hear the issue) :
Booked a service to the dealer. I had a low charge battery warning the same day because I tinted my window and the car was kept in accessories mode for a while. No idea if it's related, because I had the same issue without any battery warning in the past, and the warning was not on when the video was shot.