Camry :: Rumbling Noise With The Vibration Continues With Driving

2006 camry LE - 4cyl - 140k miles

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The car idles pretty rough & loud but ive noticed its only when im in 'drive' with my foot on the brake, at stop signs/lights. Its also much worse when the engine is cold. It settles right down if I come to the stop and shift into 'park'. So as I roll to a stop and hold the car in place with the brake the engine starts vibrating.

I dont know much about these things but it almost feels like i'm restricting it by having my foot on the brake and the engine wants more gas or air or something (could be way off base, but thats how i perceive it)

The RPMs sit around 1,000 and as the engine idles/rumbles it gets up to maybe 1,200-1,400 RPMs which i didn't think was significant but im pretty new to this.

Forgot to mention the most important thing- there is a rumbling noise that goes along with the vibrating, again only while stopped, goes away immediately when i pull off the brake and hit the gas.

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