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Does it also do this when going into drive? The most common cause is the snubber busing on the differential going bad. There’s a number of vendors that sell replacements.
The snubber bushing is always something to inspect, but replacing it didn't solve the harsh engagement in my '72. I found that if it's on fast idle it is very jarring no matter going to reverse or drive from neutral. Once the idle speed drops below ~1000rpm, it engages much better but still squats the rear end, which I believe is pretty normal.
