If you can actually see the handlebar vibration at idle rpm then probably the handlebar mounts are loose and you can get this checked by a local mechanic as well. Like you have correctly mentioned the bike is relatively vibe free till 4000 rpms but the vibes exist in the 4-5.5 k rpm band after which the bike gets smoother. There will invariably be vibes in the seat and foot pegs. Other owners have resorted to using double sided tape under the tank and other places to reduce them, but to a certain degree only.
I am at 4000 kms plus now and the bike does get smoother over time.



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