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Typically that shift includes an RPM change. Compare the RPM in drive and in neutral then rev to that RPM in drive with your foot on the brake, I bet it smooths out. Assuming you've checked all the usual tune up stuff, what about motor mounts? Did you just visually inspect the vac lines? It's really hard to see cracks and they will cause a tough idle. On an older car I always just buy bulk rubber vac lines and replace them.
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‘07 Mazda RX8
Past: 911T, 911SC, Carrera, 951s, 955, 996s, 987s, 986s, 997s, BMW 5x, C36, C63, XJR, S8, Maserati Coupe, GT500, etc
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