Loud clunk and rough shifting into reverse when cold

Hello, I have a 2018 supercrew that has 4k miles. I have been noticing that shifting into reverse is very rough and sometimes even a loud clunk when the transmission is cold. It only does it when cold, once warm then there is no problem. I was wondering if anyone here is having or noticing the same behavior. Thanks for any info.

I noticed it a few times. I didn't notice if it's because the revs are a little high and hadn't idled down yet. Mine has 525 miles on it.

Maybe high idle when cold? I have about the same mileage on mine, it will jump a bit if I put it in gear right after starting cold. I generally try and wait a little bit for the idle to settle.

Edit, I totally missed the post above mine.

Mine engages reverse pretty aggressively when cold too. Not overly concerned with it. Smooths out once it gets even slightly warmed up.

Just cold start cycle. Let truck warm up and drop rpms down.

I will keep an eye out to see if idle is high tomorrow morning. Thanks for the info.

This happened to me 2 days ago

I paid attention to this today when I went out. When started, it was running at about 1300 RPM. After running for about a minute, it slowed down to about 800 RPM. When I put it into reverse, there was no harsh engagement.

Unrelated to shifting into reverse while rpms are elevated but trans shifting related: There is a PCM update that has a very significant positive effect on the trans shift performance. I had a very abrupt 1-2 shift while in sport mode. So abrupt that I think it was only a matter of time before something broke. I updated the PCM and now it shifts very smoothly even in sport mode. You need to either visit a dealer or visit someone with IDS.

does it happen when its cold?