This could be a problem with the engine or transmission mounts. The motor/transmission mounts are what connects the engine/transmission to the frame of the vehicle. They usually have a rubber component that acts as a shock absorber to reduce the shaking movement when in operation. When these wear out, the driver notices a much harsher driving experience. I have included a few links for you down below.
Please go through these guides. I have also included in the diagrams down below a detailed step by step guide from your vehicle's manufacturer on removing and installing your vehicle's motor mounts. Please get back to us with what you find out.