I agree that the vibration / rumble at idle is caused by the low rpm. When fully warmed up, my 4runner idle between 600-610 rpm. I used the Ultragauge to measure this. I have a persistent rumble when in Drive and Stopped. But goes away immediately when I put in Neutral and it shoots up to 700 rpm. Although, if i wait long enough, the engine goes back down towards 600 rpm.
Took it to a local shop that specializes in Toyota vehicles. He said the 4runner is running fine, and that the idle speed is controlled by the ECM, and it's doing what its suppose to be doing. He doesn't recommend physically manipulating the idle speed, and the next course of action would be to change the motor mounts.
Any recommendations on what to do, short of getting new motor mounts? It'll be a costly job to change them. How can I increase the idle speed? Maybe I can increase it slightly for a week to test whether or not the rough idle will go away. Thoughts?