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2006 Nissan Altima S 2.5
All stock, no modifications

It's harder to tell from the video but when the car is started up it sounds like it doesn't have a muffler and is super loud. Also, when idling it shakes and makes this prominent rumbling noise that for some reason didn't do it in the video. Usually when I change from park to drive to neutral the noises shift and change.

The car drives well other than the shaking when idling but how it sounds concerns me.

Any ideas? Thanks in advance.

Here's a video I took for referencing how it sounds.
 
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