i agree with Mike. those cars (even gen4) start to vibrate mostly around engine after warm up when they get older (more and more miles)... i found at least 4 sources (resonator hooking bolt, air cleaner box mounting bolts, worn engine mounts, leaking vacuum hoses and restricted/stuck EGR valve) causing clunking/vibrations under hood due to increased vibrations at idle from engine and just recently found another one (missing top front bumper support as a result of collision 2 years ago, and another one is a metal splash shield under radiator with missing/broken bolts).
since i still got the problem (since like 2 years haha) i consider it normal, but as i'm anal per comfort i try fixing what i can. my suggestion would be to replace all vacuum hoses of EGR system (3mm ID, 2mm wall) and the one going from TB to the VSV for EVAP (6mm ID, 2mm wall). those bastards start leaking air/vacuum after some time due to excessive heat from engine (another feature of 5s-fe

)
one thing for sure, V6's do not have this problem thanks to a totally different engine design which runs smoother and cooler.
besides that don't worry it's normal on older 5s-fe. probably nothing major (no HG problem, no oil problem, but you can change oil soon for peace of mind) as Mike said even new gen3 5s-fe had this problem (gen4 had a different dog bone mount dampening some more of those engine vibrations)...
I would also say if you oil looks clear and good, and coolant looks clear also and you have no leaks, then it is a cosmetic problem .. though it takes a while to get it fixed hehe...
oh and it might be wise to check if your throttle plate fully closes at idle too (or go ahead and clean that together with IAC holes, there is a DIY on that in FAQ section of this forums) ... anyways there like a 100 things adding up to vibrations at idle