I also experience this with our 2000 Corolla.
Mag thud siya every morning when backing out the garage.
I think the reason for this is the car operates at a higher RPM when engine is cold until it heats up to the normal operating temperature.
What I usually do is shift it to D first then to R.
wow ako din ganto with my lancer 97 A/T specially pag umaga talaga pero tuwing umaga lang ito nangyayari, pero ako sa "D" ko engage never tried pa sa "R" always park my car pa reverse e
*Djerms update po ha pagkacheck up niyo baka makatulong narin