Permanent little vibration at idle with quiet whisper sound. No misfires or codes & live data are all normal.
It’s a Hyundai. Apparently, there is no problem.
sometimes a small vacuum leak will cause a faint whisper-like or hissing sound, maybe something like that. You could try to narrow down the location using a mechanic’s stethoscope (or short length of old garden hose). Probably best bet is to just ignore for now; if serious problem it will get worse, turn on CEL, and then the cause will be easier to find.