It's most likely the drive shaft bearing which is in the center of the shaft mounted to the car. You can get a new one from Rapido and your problem could be solved. May want to consider looking at resolving the issue soon as the vibration will raise havoc with the drive train. A remote issue could be in the rear end itself whereby if someone drove the car most of it's life lugging the gears (standard transmission) the rear end gears tend to prematurely give out causing a similar condition. Best result is to simply find a new rear end at a salvage yard, just the center pod and replace. Good luck!
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Could be a wheel, tire, or axle shaft. You could rotate the tires front to back and see if the vibration moves. If it does the problem is one of the tires or wheels. If it stays in the front, its probably one of the axle shafts. It could also be a hub bearing or something loose in the suspension. But a loose suspension part would normally show up when you hit a bump rather than on a smooth road.
2001 Toyota Tacoma Prerunner, 3.4L, 4 door, 2WD, automatic transmission overdrive problem. It's not shifting to overdrive, overdrive button on shifter does not turn light on - on dash. Mileage is 115,xxx.
The shake might be tires out of round, or out of balance. If it shakes while depressing the brake pedal, your rotors may be out of round.
As far as popping out of gear, if the shifter or linkage (If you have it) is hitting, and not "free" might be an issue, otherwise syncro's in the gear box may be worn.
I have this same car with exactly the same problem. Begins shaking at 40mph and stops shaking as soon as you let off the gas, but then begins again as soon as you press on the gas and smooths out as you get over 50. And the shaking is not felt through the steering wheel. Solution: Replace the transmission mounts. There are two of them, one on each side mounted on the frame right next to the shock strut. There is also a front and rear engine mount, but I replaced the two as described and shaking is gone.