Cud hav a loose linkage that operates shifting-the idling motor causing vibration--youll need to get some info at library or online for ajustment procedure
I would check to see if there is a heat shield, or protective shield in the area that you described, that might be loose or need tightening up, this could be the vibrating or rattling , when the engine is in park, due to the higher rpm's, also check to see if transmission mounts are tight.
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