I have an old Subaru with All Wheel Drive. I can feel in some circumstances the larger and more complex drivetrain "winding and unwinding" all those differentials and CV joints. It feels unpleasant, so I pause for a moment in Neutral before going to Park or Reverse, and then I do not feel the jerking and thumping that would otherwise happen. Is this a useful improvement?
Note that shifting from Neutral to Park goes through Reverse, but if I do it reasonably fast, Reverse does not engage. (In case it was not clear, this is an automatic transmission car. I just added the tag days after asking.) I also do this on other cars, not just the Subaru, and it similarly helps with the thumps and jerks of changing direction.