My car has a rough Idle only when it is in gear, idles perfect when in neutral.

Something mechanical, ignition, or fuel.
It can run rough under a load such as in gear and ok in neutral with no load. Have you checked the plugs and dist cap ?

I'm sure your check engine light is on try....
https://www.autozone.com/landing/page.jsp?name=top-five-reasons-check-engine-light

Is the check engine light on ?
Have you checked the computer for trouble codes ?
You could have one bad spark plug even with only 30k on it.
Problem could also be a dirty injector.

It can be issue with IAC( idle air control valve) causing the problem.

There are many other possibilities causing these idle issues. Engine idles rough.

There are few help links with solutions to troubleshoot such idle issues.

I suggest you refer the link below and follow its troubleshooting details:------

Click the link below:-----

Ford Expedition IAC valve replacing

http://technoanswers.blogspot.com/2012/12/ford-expedition-iac-valve-replacing.html

Bad miss at idle?

http://technoanswers.blogspot.com/2012/01/bad-miss-at-idle.html

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Stumbling and stalling at idle after engine rebuild?

http://schematicsdiagram.blogspot.in/2012/03/stumbling-and-stalling-at-idle-after.html

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1999 Ford F-150 Idles rough and quits when gas pedal is pressed less?

http://technoanswers.blogspot.in/2012/01/1999-ford-f-150-idles-rough-and-quits.html

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Engine stumbles coming off idle when warm?

http://repairhelpcenter.blogspot.com/2012/01/engine-stumbles-coming-off-idle-when.html

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Erratic idle on car?

http://schematicsdiagram.blogspot.com/2011/12/erratic-idle-on-car.html

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Cold start problem and vehicle shudder around 2500 to 3500 rpms

http://repairhelpcenter.blogspot.com/2012/10/cold-start-problem-and-vehicle-shudder.html

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Low idle when cold out side?

http://repairhelpcenter.blogspot.com/2011/12/low-idle-when-cold-out-side.html

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GMC Sonoma Stalls and idles low

http://technoanswers.blogspot.com/2012/10/gmc-sonoma-stalls-and-idles-low.html

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GMC Idle Air Control (IAC) Valve Replacing?

http://schematicsdiagram.blogspot.com/2011/12/gmc-idle-air-control-iac-valve.html

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1996 Camry intermittent engine failure while idle?

http://repairhelpcenter.blogspot.com/2011/10/1996-camry-intermittent-engine-failure.html

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Engine quits at idle?

http://repairhelpcenter.blogspot.com/2011/10/engine-quits-at-idle.html

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Car overheats and Air blows hot at idle?

http://howtobyme.blogspot.com/2011/11/car-overheats-and-air-blows-hot-at-idle.html

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High Idle Problem

http://repairhelpcenter.blogspot.com/2012/10/high-idle-problem.html

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While stop engine idles like cylinder missing?

http://schematicsdiagram.blogspot.com/2012/01/while-stop-engine-idles-like-cylinder.html

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Idle flair is noticed on car? Rough idle? car will not idle? Erratic idle speed?

http://technoanswers.blogspot.in/2012/02/idle-flair-is-noticed-on-car-rough-idle.html

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High rpm in neutral? Inconsistant high RPM in neutral?

http://technoanswers.blogspot.in/2012/02/high-rpm-in-neutral-inconsistant-high.html

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Vehicle stumbling at idle and shows code 54?

http://schematicsdiagram.blogspot.in/2012/03/vehicle-stumbling-at-idle-and-shows.html

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Rough idle, staling and Erratic shifting?

http://technoanswers.blogspot.in/2012/03/rough-idlestaling-and-erratic-shifting.html

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While stop engine idles like cylinder missing?

http://schematicsdiagram.blogspot.com/2012/01/while-stop-engine-idles-like-cylinder.html

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These details will help.

Thanks.

Code 37 is torque converter clutch solenoid failure. Transmission wont shift in and out of overdrive.

It can be issue with IAC( idle air control valve) causing the problem.

There are many other possibilities causing these idle issues.Engine idles rough.

There are few help links with solutions to troubleshoot such idle issues.

I suggest you refer the link below and follow its troubleshooting details:------

Click the link below:-----
Bad miss at idle? http://technoanswers.blogspot.com/2012/01/bad-miss-at-idle.html

-----------
Stumbling and stalling at idle after engine rebuild?

http://schematicsdiagram.blogspot.in/2012/03/stumbling-and-stalling-at-idle-after.html

------------
1999 Ford F-150 Idles rough and quits when gas pedal is pressed less?

http://technoanswers.blogspot.in/2012/01/1999-ford-f-150-idles-rough-and-quits.html

---------
Engine stumbles coming off idle when warm?

http://repairhelpcenter.blogspot.com/2012/01/engine-stumbles-coming-off-idle-when.html

------------------
Erratic idle on car?

http://schematicsdiagram.blogspot.com/2011/12/erratic-idle-on-car.html

-----------

Cold start problem and vehicle shudder around 2500 to 3500 rpms
http://repairhelpcenter.blogspot.com/2012/10/cold-start-problem-and-vehicle-shudder.html

----------
Low idle when cold out side?

http://repairhelpcenter.blogspot.com/2011/12/low-idle-when-cold-out-side.html

-----------
GMC Sonoma Stalls and idles low

http://technoanswers.blogspot.com/2012/10/gmc-sonoma-stalls-and-idles-low.html

--------


GMC Idle Air Control (IAC) Valve Replacing?

http://schematicsdiagram.blogspot.com/2011/12/gmc-idle-air-control-iac-valve.html

-------------
1996 Camry intermittent engine failure while idle?

http://repairhelpcenter.blogspot.com/2011/10/1996-camry-intermittent-engine-failure.html

------------
Engine quits at idle?

http://repairhelpcenter.blogspot.com/2011/10/engine-quits-at-idle.html

-----------
Car overheats and Air blows hot at idle?

http://howtobyme.blogspot.com/2011/11/car-overheats-and-air-blows-hot-at-idle.html

---------

High Idle Problem

http://repairhelpcenter.blogspot.com/2012/10/high-idle-problem.html

-------
While stop engine idles like cylinder missing?

http://schematicsdiagram.blogspot.com/2012/01/while-stop-engine-idles-like-cylinder.html

---------
Idle flair is noticed on car? Rough idle? car will not idle? Erratic idle speed?

http://technoanswers.blogspot.in/2012/02/idle-flair-is-noticed-on-car-rough-idle.html

--------
High rpm in neutral? Inconsistant high RPM in neutral?

http://technoanswers.blogspot.in/2012/02/high-rpm-in-neutral-inconsistant-high.html

-------
Vehicle stumbling at idle and shows code 54?

http://schematicsdiagram.blogspot.in/2012/03/vehicle-stumbling-at-idle-and-shows.html

----------
Rough idle, staling and Erratic shifting?

http://technoanswers.blogspot.in/2012/03/rough-idlestaling-and-erratic-shifting.html

-----------
While stop engine idles like cylinder missing?

http://schematicsdiagram.blogspot.com/2012/01/while-stop-engine-idles-like-cylinder.html

---------

These details will help.

Thanks.

For this types of problem,there are few help inks to troubleshoot the problem.Click the link below to go through the troubleshooting procedure to resolve the issues :----Idles rough and quits when gas pedal is pressed less? http://technoanswers.blogspot.in/2012/01/1999-ford-f-150-idles-rough-and-quits.html-----------van idles rough? http://howtobyme.blogspot.in/2012/01/2004-ford-freestar-van-idles-rough.html
--------------runs lean and idles rough? http://technoanswers.blogspot.in/2012/02/ford-runs-lean-and-idles-rough.html
-----------Car still runs Rough after tune up? http://howtobyme.blogspot.com/2011/12/car-still-runs-rough-after-tune-up.html
------------Idle flair is noticed on car? Rough idle? car will not idle? Erratic idle speed? http://technoanswers.blogspot.in/2012/02/idle-flair-is-noticed-on-car-rough-idle.html
----------High rpm in neutral? Inconsistant high RPM in neutral? http://technoanswers.blogspot.in/2012/02/high-rpm-in-neutral-inconsistant-high.html
------------Engine Backfires? http://technoanswers.blogspot.in/2012/02/jeep-backfires.html----------- Nissan stalls and bucks on Acceleration?

http://technoanswers.blogspot.in/2012/02/nissan-pathfinder-stalls-and-bucks-on.html

-----------
Nissan Pathfinder Backfires? http://technoanswers.blogspot.in/2012/02/nissan-pathfinder-backfires.html
---------How to adjust rpm? http://schematicsdiagram.blogspot.com/2011/12/how-to-adjust-rpm-on-2009-dodge-charger.html
------------Engine cuts out at 3000 RPM? http://schematicsdiagram.blogspot.com/2011/12/engine-cuts-out-at-3000-rpm.html
----------This will help.Thanks.

check out the idle air control valve and the passages

Probably a bad idle air motor, it controls idle electronicaly

probable vacuum leak query brake booster