2007 Highlander noisy

I just got a '07 HL Limited. I expected the V6 to be as quiet as the previous generation Camry with the V6. When I start a cold engine, it is pretty loud and rough for the first minute. Even after warm-up, when idling, there is a "boominess" or like a resonance that almost sounds like a boomy exhaust but it is not. Seems more like an engine vibration. Also, when driving, there is a slight vibration that can be felt in the steering wheel between 1800 and 2000 RPM. It is not vehicle speed related. I am just very surprised that the engine does not sound as refined as the Camry. Even in park if you just feather the gas a bit to rev it up, it sounds much more truck like. Is this due to less insulation on the firewall, different motor mounts, different airfuel mixtures? Anyone else notice any of these things or am I just being too picky and forgetting that it is still basically a truck? Thanks