Vibration in drive while sitting still

The first thing I would suspect is the motor mounts and/or the transmission mounts. I attached the procedure to check them and replace them. Basically you are looking to see if the rubber is cracked or any pieces of metal are touching. This would be considered a grounded mount and needs replaced.

Let me know what you find and we can go from there. However, here is a guide that will take you through the other major causes:

https://www.2carpros.com/articles/vibration-noise