Ok let me get this straight in my head. New d3200 with 18-55 kit lens. Pictures are soft to just slightly out of focus. You have tried the 18-55 from your d3000 kit and they are sharper by a bit.
Have you used the 55-200 or the prime? Where they sharp? My 35 mimed prime is sharp well as sharp as my skills allow it to be.
At first I thought the lenses where a limiting factor but the more I use the camera the more I see my own failing in the shot. For me reading that vr needed a second or two to sell te in really cleaned up a lot of my pictures. I don't think that is your problem. I am curious how all of your lenses do. Might be time to get a tech to look at your gear. Or return the kit for a new one.
In all my D3200 searches I have yet to see anyone say they have had a problem with one so I can't help but wonder if you got a kit with a problem. Just wondering out loss. Did you try the tripod yet