Brake Pedal Vibration when Stopped in D (2018 CX-5)

Have a 2018 with 100k miles and noticed that when Im at a complete stop with brakes depressed, there is a vibration. Can feel it in the brake pedal and makes a low rattling noise. This happens only when the rpms go down to 500-700. I can feel it in R sometimes, but not that hard and also in P, but very low. In N it works perfect.
Saw another topic about this, but without any conclusion...
It really makes me go crazy..
 
Possibly rear rotors are warped. When is the last time you had rear brakes and rotors replaced?
 
No. Because with autohold the rpms stay up to 750-800 all the time. Actually I always use autohold to get rid of it. It happens only when the rpms get lower than that..
 

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