So, of everyone experiencing this specific issue in this thread, how often do you use the handbrake when you park?
I had a thought recently when the issue became particularly bad... When I start the car and the first time going into reverse it does the drop&clunk, it then occurs pretty much constantly. I ALWAYS yank the handbrake when I park and in some instances without the handbrake the car has a dramatic amount of roll back until the gears hit the locking pin. We know this clunking is somewhat related to how the car uses the rear brakes, and the handbrake system on this car is the screw type design that only presses the pad forward and doesn't allow it to back out since that would involve "unscrewing" the pad.
The past two weeks or so the issue got particularly bad in cold weather. I did the various dsg resets and for the first 50 miles as the tcu relearn things, it keeps the revs a bit higher and prevents the clunk. Then it comes back. I decided to stop using the handbrake entirely and in some cases I pull it ever so slightly (parking on bigger hills). Since I stopped using the handbrake, the issue has not occurred at all. I'll keep avoiding it for a while to see how things go, but I'm curious what the work flow is for the rest of you guys when parking??