My Rav4 is currently at 73,500 miles. It have been idling rough in Park. You can feel some vibration in the seat when you focus on it. When I don't have the AC on nor the defroster nor the headlight, the car idle at 600 in Reverse and Drive. One thing I notice when I come to a full stop a light and turning off the headlight, the rpm would drop very close to 500 rpm where it vibrates and it will take around 15 seconds for the rpm to climb back to 600 rpm and stop vibration. I have tested the car's battery with a multimeter when it is off; it reads 12.6 volts. When I turn the car back on, it reads 13.4 volts with no load. With headlight, AC, etc, it still reads 13.4 volts. Anyone have a clue what is causing it?