I think either the PCA is missing a lot of very specific information or the thud/dog barking did not come from the King Rd house. DM is very detailed in her statement. Awoke around 0400 to what sounded like K playing with the dog upstairs. Then she hears "There's someone here". She opens her door and sees nothing. Then she hears crying and "I will help you". She opens her door and sees nothing. She then opens her door a third time, seeing the figure dressed in black. She then closes and locks her door.
But DM makes no mention of a loud thud or the dog barking. It is not reasonable for her to not have heard the thud and the dog if it was loud enough for a camera on a neighboring house 50' away to pick it up. In fact, the PCA says the dog is barking on audio numerous times starting at 0417. But DM makes no mention of the dog barking at all. She hears someone playing with the dog, she hears someone say "There's someone here". She hears someone say "I will help you" but she does not hear Murphy barking numerous times starting at 0417?
If we suppose the thud is a victim being thrown into the wall at 0417, setting off the dog, that means the dog would have been barking when DM opened her door the third time and saw the figure dressed in black.
Given only the information stated in the PCA it seems more likely to me that the thud was a car door or trunk closing followed by a different dog barking. Perhaps the figure in black threw the knife and maybe bloody jacket and the mask in the trunk prior to driving off. He wouldn't want to get pulled over wearing a bloody jacket, a mask, and a bloody knife visible inside the car. My opinions only.