Light rear noise P→R/D and bumps, no sound while driving

I have a 2016 Tundra SR5 4.6L with 135k miles. I’ve been noticing a light noise from the rear when shifting from P to R or D, and sometimes when going over bumps or turning the wheel. If I press the brake all the way, the sound is less. There’s no sound while driving normally, and nothing when bouncing the truck up and down in the driveway.

I had the truck inspected by a Toyota dealer and also a local shop. Both put it on the lift and said they didn’t find anything serious. They checked the suspension and driveline but couldn’t reproduce the sound.

Has anyone else experienced this?

 

Might be driveline slop, or maybe you need to grease the slip yoke on the driveshaft?