D5100 blur trouble with self-timer?

I was wondering if anyone had a possible explanation for this? I just got my Nikon 5100 and I'm very pleased with it for the most part, but I'm been having some with self-timer…

The lens I'm trying to shoot self-portraits with a Nikon 55-200mm. If I keep the the lens at 55mm and put the self-timer on (10 seconds), I run to the focus point during the count down, hold still for a few seconds, and on that setting it comes out crisp. Now, if I set the lens any amount over… Anywhere from 70mm-135mm, the finishing shot in blurry if I attempt a self-portrait. If I do not run in front of the lens within the 10 seconds and just take it take a picture, it's perfectly clear. Odd huh? When I get in front of the camera, I keep still for at least 2 "beeps" before self-timer runs out and a picture is taken. Even keeping still within the last few seconds, the finishing shot is blurred.

(My camera sits on the counter so it is not moving in self-timer mode. Plus, my lens is VR (Vibration-Reduction)

Any insight on this?

Thank you!

Added (1). Auto-focus is on because I didn't disable it. I make sure I see my face within the square as the camera prepares for a shot.

I'm not sure about 'pre-setting' the auto-focus. That's definitely new to me. I'll see how to manipulate how it focuses more.

Auto focus off? Are you pre-focusing on the spot where you plan to pose?

You need to turn auto focus off. Pre-focus on the spot you will be sitting my manually focusing the lens.

Do you have the VR set to <ON>? The lens instructions suggest that for images where the camwera is fixed - e.g on a tripod or on a flat surface - the VR should be switched to <OFF>. As the camera may mis-interpret movement and make unncecessary adjustments.