I have a 2002 GMC Envoy, when I turn it on in the morning shakes a lot'

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Starting about a year ago, my 2002 Envoy began to idle very roughly when in drive. Once the engine warms up to the normal operating temperature, the rough idle stops. It idles smoothly when in park or neutral, even when it is first started. I have used Seafoam and STP fuel injector cleaners, with no noticeable results. Any suggestions?