VW Golf R Drivetrain Clunk

Good afternoon,

I have a unusual problem with my 16 Golf R manual that has been bugging me. After driving the car for a while and then stopping at a light, 3-4 seconds after stopping I feel a slight jolt/clunk. I actually recorded a video from underneath the car in my garage.

I engage 1st gear -> Drive up a couple feet -> put the car in neutral -> after 4 seconds there’s a clunk noise:

Any ideas?

Thank you!!