Toyota Repair: previa shudder, rubber bushings, older cars

Question
i own a 2000 tarago (previa)and it has a nasty shudder when sitting in gear and with your foot on the brake. if you take you foot off the brake the shudder goes away the same if you take it out of gear it only dose this when sitting at lights or a stop sign i have spoken to local toyota dealers and they say that it is normal for a car of that age to do it but i have owned a lot of older cars and they never did anything like it thank you  for your help

Answer
The Previas have a chronic problem with the accessory driveshaft, it comes out from the front of the engine pulley and drives all the accessories like A/C, alternator etc.. The rubber bushings at the attachment points on the front and rear of the shaft tend to crack, there should be a repair kit available so the whole driveshaft doesn't have to be replaced.