car idles smooth in park, but put it in drive or reverse and it makes a rumbling noise. Toyota changed the motor mounts which didn't help, and they also informed me that the noise was normal.

At idle, like when parked at a stop light/sign an incresing loud low rumble is heard, and the car vibrates noticibly. The sound to your ears is like when you open both back windows at 60 mph, though not quite as loud. It causes your eardrums to flex in and out with the pressure changes. YUK!