Yes, I believe that is a known problem covered by a Technical Service Bulletin. When I bought my '95 Zetec I took it back for warranty repair of that exact symptom. It was in '97 so I don't remember exactly what they told me but here is the record of the work from my receipt:
"Concern 52: Install SOP for steering wheel vibration -#75
Cause: Perform TSB
Correction: Repl. outlined components
- Wheel ASY - Steering (Part # FMC F7RZ 3600 CC)
- *Module ASY - Elect (Pt # FMC F7RZ 54043B13 ABB)
- Damper ASY (Pt # FMC F7RZ 3F690 AA)
- Support - Radiator (Qty. 2) (Pt # FMC F7RZ 16138 AA)
"
They listed 1.5 hours labor.
Not sure if this is enough info to do it yourself, also sounds like the parts would be expensive so I would definitely get it done under warranty if possible.
Actually procedures covered under TSB are supposed to be done for free if the customer brings in the complaint, but I'm not sure if there is a time limit.
You can get information on TSB's and search for specific ones at the:
NHTSA website In fact I just did a search and here is the TSB# BC105689705: VIBRATION AT IDLE WITH AUTOMATIC TRANSAXLE IN GEAR. *TW
There are a few similar listings with different numbers but you may be able to ask your dealer about that particular TSB and see if they will still put it right for you. Good luck.