HELP! E82 128i shaking at an idle problem, exhaust drone when accelerating

[JOEwE82]

2013 128i 6mt N52B30, The car will shake at idle but if I keep the revs up at 800rpm it would stop shaking. The car seems to also shake when cruising at a constant speed as well. The exhaust drones a lot more and smells bad at startup but the shop didn't find any leak. SES light came up once in a while for the post-cat O2 sensor but will go away. I recently swapped out the crankshaft positioning sensor and PCV tube. (when the sensor acts up it will kill hill-start assist, DSC, and DBS while long crank or not start) I have O2 sensor codes mostly, I cannot tell if it's a vacuum leak, O2 sensor issue, or clogged catalytic converter. Does anyone know what might be going on? thanks in advance.

bavarian tech: 2C31- O2 sensor pre cat, 2C2B- O2 sensor pre cat, 2C2B post cat O2.

VEEPEAK OBD2: P2096- Post cat fuel trim bank 1 too lean

P2196- Heated O2 sensor 1, bank 1 signal stuck rich

P11EA- throttle/pedal position sensor/switch 'E' circuit low