Bumping this thread since it seems I'm having the exact same issues. Just happened recently while trying to back up on a trail with slight incline. Shifted into reverse fine but as I applied gas truck wouldn't move. Finally it did start to reverse but also encountered a very loud clunk sound. Horrible sound to hear on trail. I do have the basic trans go shift kit and under normal road conditions/driving there isn't any issue. Has there been any definitive fixes besides doing full trans replacement?
I would not think replacing your transmission would solve your problem, since I don't think it's a transmission problem. I think it's most likely a rear differential problem, and I'll explain why.
The transmission is, in theory, always in gear. There are four primary accumulator valves which assist in, and help lessen the shock of, changing gears. Two of these are directly involved in the 1st/reverse selection. They also do other things, and the the other two valves do nothing while you're in 1st/reverse.
There is no reverse solenoid, valve or assembly, per se. Unless it's shifted into another gear, the transmission is always in 1st/reverse. If your output shaft speed is less than the equivalent 10-15 mph, you're in 1st/reverse (unless you've selected 2nd start; I'm assuming you didn't).
There are three driven shafts in the transmission; the first is directly (sort of) connected to the engine through the torque converter. The third is directly connected to the transfer case, through the output gear train. The second one floats between the two.
At no time is anything rotating the way a manual gearbox does with side-by-side gears in or out of mesh. Everything in the A343F is connected inline, either by a shaft-in-shaft joint or by direct friction contact, inline with the shafts (there's one exception, I'll explain below).
The first accumulator valve is always "on" (that is, fluid is always backing it up), unless you're in overdrive. This is what connects the first shaft to the rest of the transmission. The first and reverse gears share a planetary, so the determining factor deciding which is engaged is how the planetary is held. I won't go into the theory behind planetary gear trains (you can look that up if you're interested), but very simply, if you hold the ring the output shaft spins in one direction. If you don't hold it, the output shaft spins in the other direction. This is how 1st/reverse is selected. The 2nd coast brake band is responsible for holding the ring. It has a clutch lining on the ID and it surrounds the ring; when it's called for, it tightens around the ring and you get reverse.
There's really no way this action could produce a clunk, or any sound other than a screeching, from the band ID slipping on the ring OD.
There are one way clutches (like the seatbelt clutches) which also help to lock the 1st/reverse in place, but those also will not make a clunk if they fail.
The second (center) shaft is connected to the first and third shafts by another one-way clutch, through a planetary gear train. It's always engaged; it can only slip in one direction, which cannot generate any clunk, or grab in the other.
There are two additional areas which could singly, or in combination with each other, cause a loud clunk or bang: the propeller (drive) shaft and the rear differential. The rear differential assembly is driven by a ring and pinion, which is a spiral bevel gearset. Manufacturers adopted the spiral bevel because it is capable of transmitting a great deal of force (in one direction only) without generating a lot of noise. They have a weakness, though. Their load transmitting capability is significantly less in the opposite (coast) direction. Ask anyone who has tried to use a 40 to pull a stump while in reverse.
The result of this design drawback is that the wear on the coast side can cause a loud clunk when it's engaged quickly. This is due to a lot of factors, but it's mostly wear in used gearsets. In new gearsets, it's the result of poor setup. Combined with loose universal joints, this could create a very alarming sound.
In another life, I built quite a few of these and we had infrequent complaints from customers claiming this very problem. Although to be fair, theirs were setup problems. We didn't find the wear related root cause until we shipped a bad batch of axles and had to compare them to operating field units with many hours on them.
I'm also curious as to whether or not the reported "clunk on reverse up an incline" problem trucks also have limited slip rear differentials.