I have a ‘23 Badlands and haven’t encountered this, not that I can remember anyway. I got it at about 19k miles and have it up to 42k. I’m also a fan of using the parking break, but my fiancé always makes fun of me for it but it is what it is lol.
The only other thing I could think of attempting is another step of using the e-break, which was something they thought us at the Off-Rodeo. I’m not sure if you do this already, since you mentioned you use the parking break, but basically the way they said to park was, when coming to a stop (to park from driving), before shifting gears, obviously press the break pedal down, then pull the e-break. Then, before letting off the break pedal, shift to neutral, and once your car is in neutral you can let off the break pedal. With that done, you place the vehicle in park without needing to press the break pedal (since at this point the e-break is engaged). This allows the vehicle to “settle” so that (hopefully) when shifting back into drive, it won’t clunk.
Then when you go to drive, you press the break pedal while in park, disengage the e-break, then shift to drive before letting off the break pedal. I’ve done this ever since and haven’t had any issues.
I hope that all makes sense and is helpful, sorry to hear you’re experiencing this and I hope you’re able to get it resolved!
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