Q: Vibrating Car

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When I am stopped at a light, and the car is in drive, the car seems to vibrate. I feel it a lot in the seats. However, once I start driving the vibration goes away. Also, when the car is in neutral or park, there is no vibration.

What could be causing this vibration? What needs to be fixed to resolve this problem? What is the cost of that fix?

My car has 105000 miles.
My car has an automatic transmission.

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