Vibration at IDLE with D and R with foot on brake :-(
 

Engine mounts are fine and transmission mounts are fine.
Car 86k miles,2002 x5 3.0i non-sport

Any ideas what to look at? No Check Engline lights,no error codes. Drives good. Just annoying vibration in whole car ,mostly in R and D,never at P or N.

What kind of vibration? Is it very noticeable or just barely?

I recall seeing a post about a member's similar issue. I'm not usually one to use the tired old comment, of "try the search function", but I think if you do, you'll see a post about it. I can't rememebr what the cause was.

I'd be willing to bet its your torque converter in the transmission. Does it go away when its warmed up?

I had a poll started in a thread pertaining to this. Multiple causes, with multiple soulutions...similarities being...X5's!!

Ha, kidding. Search for the thread and see if it clears up any issues.

It does goes away when it's warmed up. So what's wrong with torque-converter?