Great active forum here.

2000 E320 rwd

When the car is at a stop and in "D" there is a moderate vibration in the steering wheel and the body. The vibration is present just before stopping completely and constantly while fully stopped. If any other gear is selected when at a stop the vibration goes away completely. There are no vibrations when driving. The rpm is just a hair over 500 in "D" when at a stop. The check engine light is not on.

Any ideas?