ticking noise that was front brake pads easy fix,
but the big mystery reverse gear bang/clunk solved, after lifting the car up i checked everything as suggested propshaft joints brakes engine mounts all in perfect order, booked again an appointmet to dealership took few videos beforehand because it happens occasionally and i knew they might not be able to reproduce it if i leave my car again so i had a very good master technician working on car also asked for a testdrive so i could speak to him and show the video i took, he straight away knew the problem, he said that its a dual clutch 1 clutch responsible for reverse gear might be off and the kissing points need to be adjusted also performed a basic reset on gearbox since then 2 weeks now not a single time happend, i did try to force it cold start quick shift from d to r, but didnt happen since the adaptation,
see the report
Hope it helps to someone in future