well, I'm pretty sure for me at least the problem isn't my brakes. My car is garaged every day, it happens when the car has sat for many hrs, 100% no heat in trany/oil everything and gets cold.

I did the cv axle test and took some lock to lock turns in a court and it didn't pop or click.

I feel like a have a pretty good "feeling" with cars and to explain it, when the car is Cold, summer too, bit more in winter, from my garage I start the car up in Park, give it a minute and put it in Reverse and "CLICK" from the front end. I back out into the street, go from Reverse to Drive and it hits the Drive gear VERY firmly. (and yes I am completely stopped no rolling)
If I back up to a small hill and start the car cold, let it run for a few sec., put it in neutral let it roll for 5 ft. put it in drive, and its better but you can still feel it go in firm.

To sum it up, it goes into all gearing (Reverse/Drive from neutral or park)too harsh for my taste when everything is cold. when the car is warm its transition is smooth.

AEMotoring ~ glad you got your issue resolved.