2000 Chrysler Van shaking and stalling when put into R or D

Hi, I have a van with only 84000 miles. It drives it just fine. When I come to a stop it vibrates like it wants to stall and the RPM goes to 500. Then when I take off after stopping it jumps and sputters. When I am parked and drop it in to R it hops backwards and wants to stall. When put in to P or N the van no longer does these things! I do here a cliking noise when I turn Left, its been doing it for some time. Van shifts fine, trany oil changed w/in 6 months and fluid levels good. Is it my tranny or my Torc converter or Cv joints?? Or what. Thank you.