Likely the motor mount, as others have said. On my 2000 base 5 speed the mount was toast at 85K miles and on the spare engine I bought with 97K miles, same thing. My vibration was much worse than what you describe and the new URO mount eliminated it.
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Grant
Arctic Silver 2000 Boxster S - bought with a broken engine, back on the road with the engine replaced
Green 2000 Boxster 5-speed and 1978 928 auto
1987 924S 5-speed (Sold) - Blue 2000 Boxster 5 spd (Sold)
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