Hey Scotty!
I have a 2006 Rav4 146K miles, 2.4L. I bought it new in 2006. Shakes at idle with foot on the brake. No codes, it has actually been doing it for 6 or 7 years! I've heard it can be exhaust pipe vibrating, what do you think? Runs totally fine otherwise and never shakes with any throttle, just super annoying.
Could be a loose exhaust clamp. I'd get under there and take a good look at the exhaust all the way from the manifold to the tail and just see. If you don't see anything, it could be something inside the muffler that just broke. Unlikely the catalytic converter unless you had another issue.
Check the engine and transmission mounts.
Seems obvious but did the trick. I couldn't get the engine to clunk or shift around by hand like a broken mount but the front right mount was weak, rubber was all dried out. Not broken but too much play under load. A shop even told me it was fine once.... oh well, start with the obvious stuff even if it isn't that obvious i guess.