Seems to be an engine and/or car design resonant frequency issue. Temporarily goes away when you shift from D to P, or turn AC on or off, etc. appears to affect both 3.7 and 5.6 engines and has been discussed here before without any resolution.
I have not had time to get under my car and check it out. The viscous California winter has made the ground wet and a freezing 50 degrees out.

Once the weather improves I'll check it out.