Prius noob here. Just got a 2015 pip. Want get a second opinion if this sound is normal? The rpm seems to rev up after starting the car. And has some vibrations as well, which go away once the rpm comes down.
From what I can remember, this sounds ok. Maybe a touch rougher than I remember. But it does run richer when the engine is cold to heat up the catalytic converter.
It is noisier when it is charging the battery and is quieter after it unloads the motor generator just before shutting down. In the morning with a full hv battery it will be quieter as it just warms the engine. In both cases it partially charges or partially warms the engine. No one ever accused these engines of being quiet.