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Q: Has viberation at idle speed when in gear, goes away after you start to drive. on 2003 Toyota Echo

This vehicle has never been driven hard in it's 44,000 miles. No viberation until you put the car in drive.
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Sounds like a misfire, which will usually get more pronounced when you put the car in gear. How long since your last tune up service? Is there a Check Engine Light on, by chance?

http://repairpal.com/check-engine-light
Mine does the same....I have a 2000 Echo with only 22,000 miles on it. Runs smoothly overall, but it vibrates/runs a little rough when at a stop light. No answer yet, but working on it.
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