With my daughter's '05 Ford Focus (11,000 miles), the idle is virtually imperceptable.
With my wife's '95 Explorer (118,000 miles), it can barely be felt or heard at idle.
With my '76 C20 (10,000 miles on a '00 Vortec 350, Custom Deluxe with no insulation and an all-steel cab) the idle can barely be felt, but it can clearly be heard.
With my '83 F250 (111,000 miles on original 460, insulated cab, but 4" single Magnaflow Diesel exhaust
), it can be felt when cold, but when warm it smooths out, and due to the open exhaust, it can ALWAYS be heard.