Loud Noise when in Reverse (97 GC AWD)

When going in reverse, the car occasionally makes a loud noise as if hitting something and there is a slight jerk. At first I thought it was ice or snow that caused the tires to spin/break away but turned out to be not the case. No trouble codes or failures according to diagnostic tool. The car is a 1997 Grand Caravan AWD.

Am grateful for any ideas/suggestions...Thanks

My 97 GC did that a couple of days ago for the first time. Hasn't done it again, but who knows. Coincidently - or maybe not - the ABS light came on today, so maybe it's a brake problem. That would certainly be cheaper that a transmission fix. I've got 148 K on mine, how about yours?

Binding rear brakes/parking brake? If not then I would change the transmission fluid for starters, especially if you put anything in it besides ATF-3. I know zip about the AWD system.

If you use the parking brake sometimes the shoes will bind themselves to the rotors and it takes some effort to break them free and it usually sounds like a bang when they let loose.

Turned out the torque tube was damaged and the rear wheels didn't spin...Must have been slipping and when it finally engaged it makes the noise...At least according to the mechanic...