2001 Pontiac Grand Am Rough Idle In Drive Only

Hi Cody:
I'd be checking all of the vacuum hoses and the PVC valve.
Also it wouldn't hurt to put some fuel conditioner like SEAFOAM through it.
My approach tends to be to make sure the basics are looked after before starting to second guess for major problems.
Cheers.

You more than likely have a damaged motor mount.

Is the check engine light on ?
Have you checked the computer for trouble codes ?
You could have one bad spark plug even with only 30k on it.
Problem could also be a dirty injector.

check to see if you have vacuum lines hoses loose or cracked if you do re attach or replace , sounds like a vacuum leack

Do you know what engine scan data is ? Disconnecting sensors is not the way to find a problem ! What is the computer seeing as data input signals . Is the vehicle in closed loop fuel control , is the EGR opening when it shouldn't be , Is the PCM controlling the idle air control valve or is the vehicle drive by wire (electronic throttle control ?
005 Idle Speed Problems Idle Air Control Test
007 Idle Speed Problems Scan Data for Idle

Replace idle up motor or sensor depending on what they call it

When you remove your vehicle from park, the idle air control valve (electronic choke) operates to keep enough air going into the motor while you aren't using the throttle so it will stay running. If it is too dirty it can't move properly...you'll stall.
Pull out and clean or replace the idle air control valve.

I had the same problem with '99 GA I changed the idle control valve , solve the problem

hmmm have you had the timing belt changed? is it due for one? that can cause a some rough idling.

low idle speed...or the need of a tune-up