Would it be a case where the garage have trimmed them too much, so allowing for too much movement, manifested by the 'clonk' you hear? As your example from forward to reverse, you've stopped with your foot on the brake, which would be keeping the pads raised slightly in the caliper. When you put it in reverse, and take your foot of the brake, the pads drop back to the bottom of the caliper giving the clonk. I'm assuming something similar is happening with normal driving. The pads are sitting at the bottom of the caliper, and when you brake, the pads are gripping the disc and being moved upwards to hit the top of the caliper, again giving the clonk.
With the new calipers and pads, the spacing is more like it should be, with the pads moving less. I'd suggest waiting for MJs input.
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2001 A8 D2 FL 3.7 Q - LPG Conversion, Engine: AKC, Gearbox:FBB, Colour:LY5X Aqua Blue pearl effect, Interior:WJ light beige/dark beige valcona leather with burr walnut inserts
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