Very interested to see how this post develops. I have a 2018 with about 28500 miles on it.
I have exactly the same issue, which I notice on occasion when in gear too. I’m not very technical, but I’d say it feels like it is misfiring somehow.
Diagnostic check is all clear. No fault codes on anything.
Ive been ‘assured’ it is perfectly normal, but at its worst it can shake the whole car.
Be interested to a bit more about this internal memo?