Skillet.
I was actually talking to my mechanic yesterday morning about this. He said it is normal, but hardly noticed by many Ford owners. All Ford vehicles do this, just at different points. Ford tries to "set" this abnormality (the vibration) at a point in which most consumers wouldn't notice it. However, I noticed it in my Trac about 9 months ago, in which I have brought it to Ford 3 times for and they couldn't figure it out. Then just yesterday while having my battery checked, I asked him about it and he had an answer for me.
Hope this helps. But yes... it only happens in gear, not in park. It can be happening in gear, and once you shift to park it goes away (well, not really, it just becomes less sensitive). While you are in drive, you can turn your wheel slightly to the left or right and it vibrates more and in some spots not at all. However, put it in park and it will still do it, just slightly less and not as "hard" as when in drive.
LB