Your BMW was an exception of sorts if it did not clunk. I have 2 Honda, a Nissan and a lot of friends and family have several different brands including but not limited to Toyota, Lexus, Acura, Ford, Dodge, Hyundai etc. ALL of them I repeat ALL of them do this on my driveway which is a slope. I tell every one of the visitors to my house to pull up, stay on the foot brake, put car in N, pull parking brake, release foot brake and if the car keeps rolling back pull on the parking brake harder and once the car stops rolling back, then put the car in Park.
I have been in my house 12 years and none of my cars ever clunk as both my wife and I do the process religiously. Half the friends and family know the drill by now too. You might want to start learning that drill as resting a couple ton car on the tranny is not good in the long run for any tranny (punny Honda trannies or not).