Clicking noise shifting from park to reverse

I have a 1.5 year old Subaru sedan (bought new) with AWD and CVT. Whenever I shift from park to reverse after cold starting it, I hear a clicking noise. Sometimes this also happens after I shift from reverse to drive afterwards.

This has been happening since after the month I bought it. I experimented a bit recently. If I cold start the engine, wait 5 seconds, then shift from P to R, I hear the clicking noise. But if I wait 20 seconds and do the same thing, most of the time it doesn't happen.

Is this normal, or is there legitimate reason to be concerned?

submitted by ntvoo
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