Indeed, you make it sound like bad u-joints, which usually clunk in operation, particularly when going from reverse to forward.
But I'm guessing you are parking on level ground, and as such, can rotate the shaft slightly, as the engine or transmission parking pawl is not holding the vehicle steady. In this case the slight clearances in the pinion can be felt (aka gear lash); I believe the spider gears may also contribute to total lash. This drivetrain "play" doesn't seem to be felt in operation, at least not usually (think on-off on the throttle, going between accel and decel).