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Yup, it is normal. At least a lot of the six speed trucks are doing this. Mine seems quieter after I put a few miles on it but maybe that is my imagination. Anyone else find it quieted down after a few miles.
Ours has a barely audible shaft noise at idle (you have to have the door open to hear it). Some are louder than others. One thing, check the oil level in the trans. Down just a little= more noise.