My 2009 does part of what you describe, and believe the high idle, muffled sound and sound or exhaust brake at idle is normal for my generation truck, part of avoiding the soot build-up issues.. not so sure on the '15 (but you posted in the 3G Engine and Trans forum..). If I had to guess from what I've studied... sounds like your variable vane turbo is sticking in position, so the response time to take off the exhaust brake with the engine at idle is slower than it should be, thus your from stop starting hesitation. In the 3G trucks I've read soot could cause this to stick and a way to avoid it was to ensure the vane was cycled often.. that may still be true in the 4G trucks also.. Does the condition clear eventually when you drive? If so that seems plausible as to what you are seeing.. do you do considerable idle time? If so this is where that condition seemed to be worst on 3G, but I'm understanding the DEF limited the EGR considerably, and thus helped eliminate much of the soot build up.. but seems it could still be a possibility.