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This is absolutely normal. My mom skided on ice once and she slamed onto the curb and the wheels, steering, and brakes got damaged. The car SHAKED a lot until we got it fixed. The small vibration is probably the gear and the engine working together causing a vibration. In "N" the engine doesn't have to move so I think that's why it doesn't shake.
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1996 Toyota Camry XLE V6
2004 Toyota Sienna XLE Limited AWD
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