You need to define the shaking a little more, with the vehicle parked, can you move the thing around on its mounts or are you talking about whilst driving and you go over a speed bump etc?
If it moves around when pushed or pulled with the vehicle being stationary, you have a loose bar mount, which will need to be tightened.
If it moves while going over a bump or pothole, it is most likely the body moving around on the mounts, this is normal to a degree as the mounts are designed to give a little, but if its excessive, the body bolts may be loose and need re-tightening.
When you get your next service, ask the dealer to check the body mount bolts.