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Might need to accept that as the "nature of the beast". I've heard a low frequency vibration in most automatics when in a drive gear with foot on brake, engine idle is supposed to decrease when you shift into a drive gear and don't apply any throttle. The manufacturer does it's best to isolate drivetrain from driver input with all the rubber they use to do that, but when you have brakes applied to the driven wheels, any vibration from the drivetrain is going to get transmitted through the axles, into the brakes and up to your foot.

Also motor rocking is normal, the engine is supposed to move when load is being applied, too much indicates the rubber motor/tranny mounts are worn out, but this looks about right. The engine and tranny are supposed to "float" relative to the chassis, but within a given limit, too much movement is bad, but there is a certain amount of give that the rubber motor mounts are supposed to have.
 
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