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i have a 2000 Ford Expedition, min did the same thing....twice. first time had a bad O2 sensor replaced that ran fine. second time was plugs Would help to know make and model of vehicle. But the most likely cause is an engine miss due to a bad plug wire or plug or a dead cylinder [no compression]. Other causes could be a vacuum leak or the fuel/air mixture may be way off. The engine is still missing at higher speeds you just don't notice it as the higher engine speed simply covers it up. This is why engine misses are usually diagnosed only at idle or under load while the vehicle is stationary. bestalucktoyou Check passenger side motor mount. A bad one will make the car vibrate at idle. The car very much may be out of time. At higher engine speeds you will not notice it. If you recently had the timing belt done or your timing belt jumped, would cause this. But first try a tune up.

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Q: Why would an engine shake while idling like it is out of time but smooth out once you start driving?
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Yes, when idling and driving.


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spark plug gap Can also be a vacuum leak.


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Loose motor mounts.


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