i hear it when i back up my car into my parking spot in the garage (with my windows open). I park next to a huge wall, so the sound is pretty audible as it's bouncing back against the wall.
it's a popping noise when i engage and disengage the clutch in reverse. it's pretty normal as my other cars have done so in the past with no problems.
if it's audible in the car while you're on the road, i'd take it in for an inspection to your drivetrain.
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