i too also have the same problem with my 3.0i 2004 11200 miles on the clock. somehow i think the transmission is the culprit of all of this. In my car Neutral / Reverse / and Park don't trigger the irritating idle but as soon as i move the shift to Drive the car begins to vibrate. Now im thinking the transfer case? maybe / tranny itself? maybe I really just hope that someone would point me to a solution.

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'04 x5 3.0i