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Autozone and similar stores will check the codes in the computer for free usually. That is the best place to start. Other possibilities are Engine Coolant Temperature sensor (saying the engine is cold when it's not) or excessive fuel pressure (bad regulator or blocked return line)
your probably feeling a rough idle of the engine. need a tune up?
in park the engine is not loaded down, just idling at a low rpm=rough
in drive with brake on you have put some load on motor also at low rpm=rough
in drive on the road engine is at higher rpm, = smoother
generally 4 cylinder motors idle a bit rough, especially if one spark plug is not firing right or fouled or one bad spark plug wire. tune up may fix it. if it is not stumbling real bad or stalling then you can live with it.