I have a 2020 Toyota Yaris/Mazda 2 6 speed Auto every time I put it in gear (drive )(reverse) the rpm drops to like 550 which starts shaking the car not to bad but definitely enough to be uncomfortable , i noticed that this only happens when the car is in gear and the break peddle is depress if I put the car in neutral it jumps the rpm to 600 -650 which is alot smoother . Also when when I pull the hand break and put it in gear the without depressing the break peddle it’s smoother. It only does it when in gear and break peddle depressed. Took to dealer cuz it’s still under warranty but they told me it was fine and that it was normal . This happened right after I bought the car like 2 weeks after I bought it I noticed it . It’s just no other car has ever been so rough at idle ( the a/c seems to help cuz it makes the rpm to go up . And in park the neither the break or A/c affect anything about the car it perfectly fine .