Rear drops in drive

[thesamiest]

In my 08 4.8i i've noticed this is getting more pronounced, the car drops quiet noticeably in drive, 'goes up' in neutral and a bit higher on reverse. The car also kicks quiet hard when going straight from drive to reverse, this does not seem to be related to the transmission as i've replaced it twice and both of the transmissions and the original transmission all do the same thing.

Here is a short clip: https://www.youtube.com/watch?v=sDyBAhvq8BM

Edit: The car might have done that previously i have no idea but now it's very noticeable and quiet jerky, the car 'lifts'/jerks up when going into reverse, and lowers when going into drive. Also a sort of whining/grinding noise is coming from the rear differential so i will also have to check that out.