My old white S70 T5A had this problem, for the entire 2 years I owned it. Drove a good 30k miles around the country with it, and eventually the CV gave out on the freeway. Once I had that replaced, it got a bit better, but never went away. Had all of the mounts replaced and countless other work done. Good luck man, but don't stress about it too much - From what it sounds like, I really don't think it's a dangerous or urgent problem.
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