2009 taco shutter/vibration?

This may be hard to explain, but my truck is shuttering/vibrating.


Imagine your driving on a wheel that is smooth on half the tread, and rough and bumpy on the other half. So as you drive the vibration caused will come and go.

I know that's a weird explination, but that's what it feels like all the time, driving on idle.

It's not the suspension or wheels because it's happening while idle as well. I can feel the vibration in the steering wheel and the center console.

It's really bad right after starting the truck, after 5 or so minutes idle or driving, it calms down and smooths out. Then starts back up again randomly



Is this something I should be concerned about?

 

http://www.tacomahq.com/2629/driveline-vibration-expand-tsb/

 

I read that, but that seems to be only a vibration while driving. I am getting the same vibration while idle