Car jerks when shifting to R

[zuvarak]

220k miles (355k km).
It's not really a roll. The rear wheels rotate just so slightly and yes, since the foot is on the brakes, you can hear the scraping as the rotors move from under the brake pad pressure. I will try to record something. Some time ago I did notice a fault that said something like "worn transfer case fluid".

Edit:
I forgot to mention that somewhere at 100k miles the transfer case was replaced with a supposedly restored unit.