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Re
Do you only notice it when idling in drive? I have two ideas:
1) It would be a loose exhaust pipe. The engine RPM while idling in drive may resonate down the exhaust pipe. If the mounting brackets are loose, then the pipe would be vibrating.
2) The throttle body may be dirty. However, given that the car only has 25k on it, it seems like the idle air control valve is sticky. You can find instructions online on how to clean this - its a fairly basic DIY project - just requires the removal of a few screws.
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