Engine vibrations.

[Sp0_0k]

Had several cases of some heavy vibrations in an engine after a cold start. Changing gears doesn't have much influence. It can vibrate and drop the rpm just on idle. Same problem after the restart. Usually vanishes after it gets warmed up a bit.
It makes some weird sounds and whole van is shaking due to vibrations.

 

[Bellcrew]

Had several cases of some heavy vibrations in an engine after a cold start. Changing gears doesn't have much influence. It can vibrate and drop the rpm just on idle. Same problem after the restart. Usually vanishes after it gets warmed up a bit.
It makes some weird sounds and whole van is shaking due to vibrations.

Regeneration of particulate filter can give a similar effect but only occasionally.

 

[Jabberwocky]

I'd go to a dealer and get it sorted out especially if van still under warranty. The vibration is clearly not right (and could be be doing damage!).

 

[andyinluton]

I had some thing that sounds similar with a Discovery, it was one of the glow plugs not working, so when cold wasn't firing properly on one of the cylinders, once warmed up it was fine.