Sounds like the parking pawl noise? I didn't get the "clunk" with my 11 MDX (or 08 RDX or 06 TSX) parking on my incline driveway. I never had to use the emergency brake when I placed those vehicles into park. I started to get the "clunk" shifting into reverse with my 19 MDX Sport Hybrid. Maybe your MDX is shifting/moving slightly putting pressure on the parking pawl?
I started to engage the parking brake first and then put it in park with my foot on the brake. In the morning, foot on the brake, put into reverse, and release the parking brake to reduce the clunk.
I started to engage the parking brake first and then put it in park with my foot on the brake. In the morning, foot on the brake, put into reverse, and release the parking brake to reduce the clunk.