Jerking when I put my truck into drive from park

Odometer: 142K 4.7 4WD

Anyone familiar with this issue? I am experiences a hard thump when I put the truck into drive from park or reverse to drive. I also notice when I come to release of my brakes and accelerate quickly my truck will sort of slam into gear if I don't let it catch up.

However, when I take off from a red light with a heavy foot the car is shifting like butter...

Also intermittently it will clunk forward at highway speeds while trying to pass (about 70mph here in texas).

I've done a drain and fill, and changed out spark plugs. I took it to toyota and was told I need a rebuild. I also took it to a tranny shop that has great reviews and he said it was fine, but I am not sure if he experienced the high speed clunkiness.

I am desperate and have been looking all over the internet please HELP!

 

Grease the driveshaft