Sure, this method should help:

1. Hold the Brake Pedal when on an incline.
2. Put the vehicle in Neutral.
3. Engage the Parking Brake.
4. Release the Brake Pedal slowly (the car may move slightly, and the parking brake will now bear the weight of the vehicle).
5. Shift into Park (P).

Following this sequence should prevent the thudding sound when shifting. Also, as a general tip: avoid shifting straight from P to R or D to R. Always shift to Neutral first before selecting Reverse (R) or Drive (D).

 

I have this issue in my 2018 es 350.. its the same 1 out of maybe 30 times.. I noticed it when the car has sat a while and when it's on a slight hill. I usually press the brakes in fully to change the gear but have still noticed it at times. I only have 40k miles.. it has done that from the start too. it's annoying as hell it shakes the car.

 

I had this exact issue on an older STS Cadillac.

Check the Rear Diff Bushings. IF they are worn, when the transmission sends signal to reverse/forward the direction of the tires, it generates force against the differential and bushings help reduce the force taken on the component. Always happened from Park to R to D to Park to D.

Granted, the car was RWD. Being FWD ES, its the front diff. bushings.

 

Set e brake when you park first or put in P then set brake , if P first with foot off brake pedal it'll set on the trans gear then clunk due to weight of car against it when releasing
Possibly