It could be...
1. Shift cable linkage -- check on lift.
2. e-brake linkage -- there's a write up on this, but I think rear wheels have to come off to inspect.
3. Rear axle -- how many miles on car since diff fluid changed?
Unless its been well over 36K since the diff fluid was changed, I'm betting on one of the first two.
It could be something random like a rattling exhaust shield too.
Whatever it turns out to be, I highly doubt its anything serious if you have no other symptoms, but worth having a look with the car on a lift.
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