I will throw my .02 cents in on this topic. I have removed all parts that have come up within all the posts to check. EGR, PCV, MAF, Throttle body blade, Brake booster, vacuum leaks etc. etc., and nothing. All working correctly, cleaned, re-installed. new plugs, air filter etc. My idle RPM drops from 900 in Drive to about 600 in Drive with brake pedal depressed. Been doing this since new, now has 140K on it. When in park, nothing changes idle RPM, rock solid at 900. Depressing brake does not cause a change so stating that depressing the brake causes a vacuum leak in the booster is false because if that were true, anytime you actuate the brake pedal you are actuating the brake booster and if that action causes a vacuum leak in drive, it will do the same in park, no difference it's a mechanical action. EGR is EGR, if malfunctioning at idle, transmission selection does not have an effect. I have come to the conclusion this is inherent to the design of the system controlled by software. For some reason the Mazda Engineers chose to regulate idle when the engine is in drive and the brake is depressed. I have seen several posts about folks pulling the brake switch fuse which cures the problem. Did it cure it or just negate the function? To me it appears to be by design. As I said, mine has done it since brand spanking new. Exasperating yes, malfunction? No. Now I will say that all the remedies and the go check this and clean throughout the posts will in fact help for those who are seeing larger RPM drops into the 450 to 500 RPM range. Mine has done that and it was the MAF and throttle blade cleaning that corrected that. Replacing the three mounts will help the vibration aspect as i noted, that degraded over the years and finally replaced trans mount and both motor mounts at 130k and the vibration issues went away. Just my two cents. Thanks