Here's how I see it:
The gearstick is connected, via linkages, to the gearbox. The gearbox is bolted directly to the engine. The engine has many moving parts and so will produce vibration at certain RPM's. The only way to not get any vibration transmitted from engine to gearstick would be for gear selection to occur through some electronic means, aka an automatic gearbox. There's nothing wrong with your car.
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