Anyone else getting rough shifts from park to reverse?

Sometimes when I shift from Park to Reverse on my 2023 Corolla LE 2.0, it feels kinda rough or clunky, especially when the electronic parking brake is on. But if I press hard on the brake pedal, it either doesn’t happen or it’s way less noticeable. Is this normal? Anyone know how to stop it from happening?

I’ve noticed this before on cars that had brake issues. Sometimes the brakes stick a bit and that makes it feel jerky or clunky, sometimes with a groaning sound too.