Anyone annoyed that the Nikon D5100 camera will NOT autofocus with some Nikon lenses?

A.  The D7000 has a focusing motor built into the camera body, so it will focus with all AF and AF-s lenses.  The D5100, D5200, D3200 and many other models will not autofocus, though they will meter with the DC lenses.

B.  Where did you buy your camera?  If someone came into my store and told me that they were replacing their camera body and had lenses that they wanted to use, I would find out what lenses they had.  One of the first things we would talk about is which bodies are compatible with AF and AI/AIS lenses.  This is pretty much sales 101.