Shifting Causes Crunch Noise

[prix]

I hear it when shifting from neutral into drive. Other gears don't seem to cause it as much, although I also hear something slight when going from neutral into reverse. Trying to figure out if this is caused by something on the chassis rubbing on something else, or a more serious problem (transmission, etc.). It's more of a crunch than a clunk, if that helps. Ideas? Also hear it on braking ...