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It can be caused by excessive wear in the driveline somewhere. There are a lot of possible spots along the way. You need to investigate.

It can be wear in the transfer case input spline.

It can be a worn out suspension link. The A frame ball joint is the common one to cause a clunk.

Basically you need to investigate and locate the source.
 
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my 97 NAS auto has been clunking when put in reverse for decades now..literally since back when it had little miles. For me, I'll be worried if/when the sound stops.
 
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