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No, it's perfectly normal. I think the OP was talking about a rattle noise.
Unlike a lot of FWD cars these days which use cables to link the shifter to the transmission, the shifter in the BRZ/FR-S has a mechanical linkage. Then, on top of that, again unlike FWD cars, the shifter is mounted directly to the transmission rather than the body.
Think of those vibrations as a way for the engine and transmission to communicate with you. Unlike most cars these days where the manufacturer does all they can to try and separate you from the mechanical side of the car, Toyobaru wants you to be a part of the whole process of driving this car.
Might as well stay at home and play a video game with a controller for all the involvement most cars today have. :P
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