Idles rough but not as much when its warm outside

Check your fluid levels starting with the transmission fluid and then the oil.

When my Grand Cherokee was having similar rough idling problems, I replaced all the plugs and replaced all the ignition and spark plug wires. I also put in half bottle of fuel injector cleaner in gas tank (full, as recommended). I had both immediate improvement in power, smoother idling and my gas mileage went up 2mpg (approx).

Check the automatic idle control valve. It may need a cleaning, too.

Generally, the problem is in the emissions or something that is affecting the effectiveness of the emissions, but other causes can trigger the light to come on, too. To determine the cause, the vehicle will need to be taken to AutoZone or a shop that has an OBD2 scanner, or for 1995 and earlier models, an OBD1 scanner, While a scanner will not give you the magic answer, it will give you a code that narrows down the problem area.
Some specific causes for the light to be on are:
Gas cap left off, not tightened, not installed correctly, or needs to be replaced.
02 sensor.
Engine misfire - error might clear itself after 3 complete warm-up cycles; not restarts, but warm-ups.
At start up for a bulb check - Should not stay on.
Details here: http://www.chinasinoy.com/service/why-would-a-check-engine-light-be-on-62.html

Car rough idling causes
misfiring engine is among the most common causes of a rough idle. You may notice your car idling roughly when it's in "Park" or when you're driving it and stop at a stoplight. A rough idle can be caused by damaged spark plugs or spark plug wires or a burned-out valve. It's important to address the cause as soon as possible to avoid potentially damaging the engine. Engine repairs are almost always expensive.
Learn more here:
http://www.chinasinoy.com/service/car-rough-idling-causes-and-how-to-fix-it-108.html

Hope this helpful.
Best regards.

That mechanic wasn't lying. I currently own three of them and I know a lot of people that own them and they all have a rough idle. The engines are internally balanced and they don't have dampeners, so you get the engine vibration transferred to the car and that is what you are feeling.

try adjusting the the idle screw on the throttle body should make it idle smoother

2002 a4 try fuel cleaner first, see how that goes after driveing for a while,,,the same goes for the 200 a4,, then we work from there

try changing distributor cap & coil

your probably feeling a rough idle of the engine. need a tune up?

in park the engine is not loaded down, just idling at a low rpm=rough
in drive with brake on you have put some load on motor also at low rpm=rough
in drive on the road engine is at higher rpm, = smoother

generally 4 cylinder motors idle a bit rough, especially if one spark plug is not firing right or fouled or one bad spark plug wire. tune up may fix it. if it is not stumbling real bad or stalling then you can live with it.

change plugs