Should changing gears produce a noise?

[d4rknezz]

I have had my car for 2 years.
It is at 54000km.
As far as I can remember, it has always made this noise when switching gears. I can't describe it, but its like clicking in place. Not really clunking, but it is ...kind of ...clunking to the gears. After driving, the noise goes away, i think. So i think it always needed heating up. Or maybe my music drowned it out.

I have always thought it normal. Only because I never had it otherwise.

Today, after getting a second opinion from an independent mechanic after a test drive, they said maybe my transmission needs to be looked at.(see my post below) I goggled transmission and found clunking noise as a sign of trouble.

I want to know if switching gears should have produced 0 noise, normally, and whether i have had this problem for years and did not know this. Help?

[Hannibal]

Go test drive another Camaro on your dealer lot and compare the sound. Another option is to watch YouTube videos of people switching gears.

[SpaldCam]

Mine does the same thing when the syncrhos engage. It has been notchy since day one.