New to me 19 Tiguan SE 26k miles (transmission issue I think)

Bought it from Carmax few days ago, also purchased 60 months / 100k Maxcare with it as well.

I bought it from Carmax a few days ago, and also purchased 60 months / 100k Maxcare with it. . eral. I have been the first owner of the 1997 GS300 and have been driving Lexus forever.

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I notice the Tiguan even though it's practically brand new at 26k miles, I notice the idle is a bit rumbly and notice the rumble on the steering wheel and as well as the seat. Also when I put the car in reverse the vibration became two times worse than just sitting idle.

Also, I notice the transmission jerks when accelerating from a stop, also the transmission shift seems a bit rough.

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My question is, is the vibration when on idle / reserve normal? also the transmission not being smooth is that normal? I still got my GS300 but honestly, my 97 is far more silent and produces less vibration than this 19.

Bought it from Carmax a few days ago, also purchased 60 months / 100k Maxcare with it as well.

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My car is still under dealer warranty, but do you think I should take it to Carmax to be looked at? or Volkswagen dealer?

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edit: this is NA version