Quick one-word overview of my experience with this exact same problem: lemon.
More details: Within 3 months of buying a 2019 RST (5.3L, 8 speed), I began experiencing the dreaded reverse to drive clunk. Took it to the dealer and the code(s) showed a problem with the torque converter. As it was being replaced, the mechanic noticed debris and a loose shaft in the transmission. Transmission replaced too.
Problem continued. Also experienced a similar clunk when slowing down then accelerating. For example, approaching a red stop light that turns green followed by acceleration. Another example: exiting the highway, slowing down on the ramp, and then accelerating into the turn. Mine mostly manifested itself with a brief hesitation, followed by a clunk and sometimes a skipping/chirping from the rear wheels. This happened on average once a week (some weeks 2-3, other times none). Problem occurred more during sub 32-degree weather. A return to the dealer and I got the same response as others: normal operation, not a problem.
I strongly disagreed. The clunking was substantial, not a mere inconvenience or rough shifting. I was reluctant to tow or haul with the issue. My truck was in the shop for over 30 days. I filed a lemon law claim. I argued the problem substantially diminished the value, safety, and use of the truck. In the end, the arbitrator ruled in my favor and GM was ordered to repurchase my truck (original purchase price + sales tax + state fees + dealer fees + interest on loan). The dealer was very good throughout the process. No issues whatsoever with them.
Any way to change my forum name to Not_An_RST19Fan?