Transmission thump when going from Reverse to Drive

[Grumpy Old Guys Ranger]

I took a video of the rear diff & bearing block, it seems as if the noise is emanating from the rear diff, I put my hand on it and also felt the clunk. It seems that its almost meshing the gears like a servo would. I do have the locker as well, so not sure if this is isolated to these types of differentials. Feel free to give your opinions.
I attached a dropbox link due to file size.

https://www.dropbox.com/s/t94ieuihxh3cy9j/Video Apr 22, 6 44 35 PM.mov?dl=0

Nice Video, i was parked in my garage, and when i put my truck in reverse this is the exact sound it makes.

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