You could check the notor mounts easily. Pop the hood and put keep your left foot on the brake. With your right foot give it a little gas with the trans in rev and in drive. Notice if the engine moves (tilts) when you give it gas. If you notice it moves more in reverse then in drive then chances are the engine mounts need replacing. Note the engine will tilt in one direction in drive and the opposite dirrection in reverse.

A bad engine mount tends to leak a dark brown substance which is noticable under the mount and on the frame supports underneath. You could look for signs of this.

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Ray
1998 Mercedes E320, 200K Miles
2001 Acura 3.2TL, 178K Miles
1992 Chevy Astro, 205K Miles