I have a similar problem. My car is a 1999 AWD Rx300 just as yours with 130000. It vibrates on hard acceleration and sometimes even when cruising depending on the road curvature and slight turns. When sitting in the back seat on the driver side, the noise and vibration is very loud upto about 55 miles per hour and starts to die out. I have had the first intermediate shaft drive axle from the front diff to the rear diff replaced and lost some of the vibration but not all. I know the front axles are newer than the rear. I believe the exhaust on this car is a problem as it is loud enough outside of the car.