Normal? are you crazy?
a $15000 price Mazda/Honda idles better.
Are you sure that there is not a problem with the IACV - Idle Air Contrl Valve?
I have the same problem where after the car has warmed up thoroughly, idle would drop way low when coming to a stop at a stop sign. Ath this time, the gear selector is in "D".
The low frequency vibration is enough to make me mad as it drones throughout the passenger cabin and gives me a massage like vibration.
The first dealer I showed it reported it as Normal!!!
I now have the Lexus District Rep invloved and let us see where it goes.