2003 civic hybrid rumbles?

Hi everyone. I recently purchased a used 2003 honda civic hybrid. Everytime I accelerate from a complete stop, the car rumbles then goes. If the car is cruising and i give it gas it accelerates fine. This only happens if I come to a complete stop and then accelerate. It feels as though as the wheels spin too fast and can't grip the road. But it rumbles even when I go like 1 mph. I understand that these cars have integrated motor assist but could that be maybe trying to rotate the wheels too soon? Can I disable IMA? Plus I've noticed that the rpm almost always stays around 3k no matter how fast I'm going. Also it seems the longer I drive the car the less rumble/violent shaking the car has. If I start it for the first time it is the worse.

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