When I shift out of park into first or reverse I hear a clank. The car drives fine and shifts fine while driving.

I had a '99 Gr Caravan and had a similar noise and it turned out the half axle bolts had come loose and there was some play.

However, the '01 is a different set up. There is a tripod joint next to the differential or trans output.

The noise is coming from either the passenger's side tripod joint or next to it in the differential or trans output. If I rotate the half axle, I can hear the noise.

Anyone else have this noise

 

Went to the dealer. It turned out that the nut holding the half axle on was loose on both sides.

Can't imagine how this happened. Must have been the brake job people. Dont' know why they did it but oh well.