My Camry goes rough in D or R from P or N

[odoboy]

Hello to everybody!
I have a 99 Toyota Camry V6 LE with 90k miles on it.
I think i am having an issue with the car but i am not sure if it is an issue or it's just normal.... The problem is that when i shift from P or N to D or R i really have to keep the brake pedal pressed very hard in order to prevent the car from moving one foot or more. I would like to mention that the breaks work wery well so it's not a brake related issue.
I know i had an issue like this with my 95 accord when some dashboard wire harnesses were removed but once i put them back everything went back to normal.
With the Camry, it seems like the issue is there even though everything is in it's place (ie I have not taken anything apart).
The engine idles very smoothly and the car is a real pleasure to drive....it also shifts smoothly during any trip.
The only problem is this shock that the wheels receive when i put it in D or R. I am just afraid that something might break in the transmission because of these shocks. From my point of view i think that the engine still tries to maintain the same idling speed that it has in neutral even though it is in D or R and this makes it rough.
I hope you can understand what i wrote here...i did my best to explain the issue. Any help would be greatly appreciated!
Thank you!

[Brian R.]

Maintaining the same idling speed is characteristic of the engine. It is normal. A strong engine will have some torque at idle and will move the car. Drum brakes are worse at this creeping than discs.

[odoboy]

Thank you for your reply!
But, The brakes are all disc brakes and are only about 3 months old.
I know that the engine has some torque at idle but on this car if i don't keep the brake pressed hard when i put it in D or R the car will move a lot and even with the brake pressed the car experiences quite a shock and there's a pretty loud bang as well.
I'm pretty sure this is not normal to such a silent car.
I'll probably have to take it to the dealer.

[Black Ex Coupe]

sounds like your transmission mount is dead

[odoboy]

Thanks again...today i have played with the issue a little bit more and if i put it in R and then in D it makes the noise. If i put it in N and then in D it makes the noise once but if i put it again in N and then in D again it is smooth....like it should be.
I noticed it only makes the noise if i keep shifting from R to D or the other way....pretty much if the wheels change direction from forward to reverse and the other way.
It probably is realted to one of the drive shafts or that transmission mount.
Would you happen to know where that transmissin mount is located?
Once more, thanks for the help!

[ProMan]

Check your idle speed, it may be too high.

[odoboy]

The idle speed is ok and also does not vary, it is constant and it is under 1000 rpm....i'm not sure exactly how much it is.