Appreciate it!Transmission has input and output speed sensors, among other things, and if firmware doesn't know what to do with the data it's seeing, can bump itself into neutral, maybe even shut the engine off. Search for shift to park to find similar threads.
The other thing sounds like could be driveshaft clunk. Driveshaft has a slip joint that may need grease. Threads about that also.
And welcome to the forum.