MS rear end noise

[Marco07]

MS 2020 rear end noise
Just out of service center in Montreal with no answer , they say my S is to new and did not have a recent S to compare the problem , they can't say if this noise is normal , i can't believe they did not phone tech support to find out
problem rear end clunk noise when shifting from reverse to forward , if the car is completely stop , it may not happen but if barely moving it's very apparent .
anyone had or heard this problem

 

[webbah]

Does the car "shudder" under heavy acceleration? If so, then it is likely the half shaft in the rear.

 

[Marco07]

acceleration is OK