rough idle in drive

I was leaning toward a problem with engine load compensation till you said was ok in reverse. If only happens in drive then I suspect the motor mount that is torqued when engine shifts in engine compartment when put in drive. The engine movement may be too much from bad mount in the drive location. Have someone put in drive with foot on brake and see what is pulled/pushed against as far as mounts are concerned. If not then someone who know Infiniti engine load compensation will need to get involved. Good luck.