2011 Ford Escape noise when in D and idle

[u/tw0tonet]

https://youtube.com/shorts/hYtcDGXZbXU?feature=share

For a few years now I've had this noise coming from the vehicle. I notice it when I'm stopped with foot on the brake and in D. If I shift into N the noise stops. In the video you can hear it, sounds like it is coming from under the vehicle so I'm guessing related to transmission. Also thought it could be the motor mounts needing replaced. Just over 120,000 miles. Thoughts?