I've owned two Audi's with DSG dual-clutch gearboxes. I never had any issue with them displaying ANY odd shaking or vibration. It is quite simply not "normal" operation for any properly running/designed transmission.
This is Ford's first go-around with this kind of transmission so I'm not terribly surprised that they're having issues like this. It's early and there will be a learning curve. The good news is that these are highly dependent on software and problems with early production models *should* be fixable as software upgrades.
I believe they'll get it sorted out eventually. But I'm ever-so-glad I stuck to a good ol' 5-speed rower (which incidentally shifts like buttah).