I would suggest the vibration is from the typical worn/failed passenger side engine mount. Cranking the wheel over while in drive will torque the engine about if it's not held in the proper position. The vibration sound may be coming from the mount itself. (It's hydraulic and should have fluid in it.) If it's leaked, it may be metal on metal depending on the amount of wear/slop.
Worn CV joints usually only make odd noises when in motion under certain turning conditions. Your description sounds like all your tests were done with the car completely still, engine running, going from park to neutral to drive.
You could do the standard preliminary test for CV joint problems to further rule out that possibility; drive in a tight circle at full lock clockwise and anti-clockwise and listen for a loud repetitive clicking or chatter.