If you're noticing that rough idle specifically in drive with the AC on (TRD Sport), it might be the ECM's idle speed setting. Toyota often lowers it for emissions, which can be jarring. Before going to the dealer for a reset, check your throttle body for carbon buildup—sometimes a simple cleaning solves the 'vibration at stoplights' issue. This rough idle diagnostic guide has a few other Toyota-specific checks for the IAC and coils.