Definitely sounds like a mount, could be transmission (i believe) or motor, not too familiar with Toyota because i never owned one but pop your hood a see whats closest to the part of your car that is vibrating.
Any mechanic should be able to tell you which one it is by taking a look and running the car. But to see the mounts damage they would have to remove it. Mounts are not too expensive, but depending on which one it is and the difficulty to reach it, the labor might be pricey, and if one if the mounts is broken, you might as well replace them all. Broken mounts will eventually mess up your car.
Check out Advance Auto Parts, Auto Zone, Pep Boys etc for mount pricing, you'll have to know the specs of your tranny/motor.