The clunk is take-up of driveline slack in the differential and transmission output shaft. The amount of slack will vary from unit to unit. As the unit ages, the clunk will slowly become worse, however it is not a safety or driveability concern.
A variety of different vehicles will have this clunk. For example, both my Toyota Tacoma and my Ford E-350 work van have some type of clunk when you let off the gas.
The clunk can be compounded by axle wrap on certain vehicles, however the GM 1500 trucks do not themselves suffer from axle wrap.
The re-torque of the axle u-bolts is designed to confirm that axle wrap is not present.
Other than checking the u-bolts, the reason GM will not "fix" the problem is because technically there is nothing wrong. Driveline slack is a normal characteristic of a vehicle with a solid axle, divorced transmission and long driveshaft.
Driveline clunk can be improved with an aluminum driveshaft. Reducing the rotational mass of the driveshaft will help reduce the shock force.
Installation of a u-joint dampener will also help.