If you have a rough idle in drive, the very first thing to check is the motor mounts. If they've never been changed, I'd bet that is the cause of the roughness at idle.

I wouldn't believe there was anything wrong with mine with only 65K on the clock. I'm here to tell you that new motor mounts made such a huge difference in the way the car idled, my wife didn't realize the car was running after she started it.

Apparently later mounts are not solid rubber but filled with fluid. They don't last as long as the old ones did and they can collapse.

Have it checked by a knowledgable person.