well, let's dissect this.
turning the a/c on or turning the wheel or several other things make the idle up module kick in which ups the idle a few rpm.
shifting into drive stops spinning the tc and thus the rpm will rise a few also.
so basically we have a rough idle at 700 or whatever it is, and it improves at 800 or so?
and we have a 4 cylinder camry?
if yes to both, your toyota engine is running, e.g. if it's running, it's vibrating.
without scanner results showing which dtc's are set and/or pending, and readouts of the sensors, maf g/s, and fuel trims at idle and 1500 rpm, along with maintenance history and whether it's always done this or just started doing this, (and if it did just start recently, what was done right before that) then it's kinda hard to narrow it down more.
if you shoot us this info, maybe we can help narrow it down to a bad/loose fitting hose, pcv, dirty plugs or other maintenance item, or dirty intake, injectors, or intermittent coil on plug, etc.
tony