The Toyota Corolla and Yaris sedan that I drove vibrated when I stopped and it was in D.
It's because your gear is engaged, so the ATF in the torque convertor is trying to slip because you are holding your brakes. Of course, the input of the torque convertor rotates because your engine is at 700rpm while the output side is stopped because you are holding your brakes. Since the ATF fluid is working as it should, your engine RPM is being pulled down to maybe 600.
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