No, it is not normal for a newer car to idle and shake rough. I have had the same problem with my car and all it required was a tune up and a change of the spark plugs. I work for General Motors as a Licensed Mechanic. I encountered a sitution on numerous occassions where one of two problems existed. First, if the alternator had been replaced and the harness (sensor array) had not been properly re-routed, vibration caused the injector set harness (back left of the fuel rail), to rub through on the alt. mounting bolt causing a short to groung on one of the injectors resulting in a misfire, excess O2 down stream, compensation through the O2 as a lean condition, and ultimately the IAC trying to compensate with increased air. The second most common problem resulting in over idle speen a vacuum leak into the intake. Either through the crank breather vent or failed phlenum gaskets. Either condition tends to flip the SES with a 'high idle' or 'rich mixture' fault.
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