Clunking noise first time braking after switching from reverse to forward

I have a 1996 Grand Am SE that clunks once when the brakes are applied while going forward after first going in reverse. It happens every time I first backup then start driving forwards (for example, if I'm parked in a parking spot that requires backing up to get out of it). It doesn't happen when hitting the brakes driving forward if the car wasn't just going in reverse. And it only happens that one time after switching into forward. Also, it does not happen when lightly pressing/touching the brakes....only when decently hard pressure is applied.

Any ideas on what this might be?

Thanks!

Check two things. First check to make sure the brake calipers are tight. You may have a loose mounting bolt and that is causing the noise. The second issue can be a CV joint going bad. They can make a clunk when changing directions too.