I bought a 2001 4runer with 53,000KM some times after I come into a complete stop and releasing the brake paddle I hear bang noise sound like the transmission engaged or something was garbing the back wheels and released it .Is that normal or does any one knows why some times it makes that noise.Your help is appreciated.

It is probably a dry spline in the driveshaft. Grease all the u-joints and splines with moly grease.

It is probably a dry spline in the driveshaft. Grease all the u-joints and splines with moly grease.
Thank you Brian,you are such a helpful guy your help solved my problem.

You're welcome

It is a common problem.