With the Zafira we have a clonk noise when auto gear changes from 1 to 2 which is apparently a zafira automatic characteristic, is supposedly the ABS system checking itself!
Great having 7 seats, but dealer service nowhere near as good as Nissan dealer, wished we stuck with Nissan.
That clonk is indeed normal. It should only happen once in each journey and is the ABS testing itself as you say.
If it happens every time the car moves off, then there is a problem.
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