Reason is that the rough idle happens worse when my foot is on the brake pedal at the traffic light. Maybe bad wheel rotors ?
If I pull up the hand brake and in drive gear but take off my leg off the brake then the idle is lesser. But much worse vibration and noise when press the brake pedal.
No. Rotors can only cause vibration while you're moving. (rotate... rotor)
Please post your vehicle information if you want good answers. I'm thinking you have hydroboost brakes, and the power steering pump is going. Mounts could be shot from the vibration too.
Bad rotors would only cause vibration when the car is moving. Assuming the engine is firing on all cylinders, if it's an old vehicle you might want to check engine and transmission mounts.
@chucktobias
Replaced them all mounts except the rear mount. Yes it is old Scion 2006.
First after the mount replacements the whole cabin was shaking. Much worse than original problem. But then added injector cleaner and cabin stopped shaking. Or maybe just the mounts adjusted. But still rough noisy vibrating idle. Disappointed by Toyota