Santa Fe 2001 vibrates when in drive at idle speed?

It's hard to tell what sort of vibration you have from your description, bu t we can generally put idle vibrations in two categories: abnormally rough running engine or improper vibration isolation.

All engines have some amount of vibration, but this is relatively low for t he 2.7. For excessive engine vibration, you should consider misfire and ab normally low idle as potential causes. For improper isolation, consider a weak or broken engine/transmission mount.