Toyota Tundra 2001 is making a noise and vibration when in gear. Stops in N & P

What is your question?

We can feel the vibration when in drive but idling or in reverse. Can still feel it when driving but check engine light came on. It stops when in N and P.

What makes this problem better or worse?

It's worse when put in gear.

How long has your 2001 Toyota Tundra had this problem?

Just started