I ride a Dyna so the only thing I know for sure about touring is what I read. But if I remember correctly the touring models (SG and RG) are rubber mounted like Dynas. Whereas the softails are hard mounted into the frame (Heritage etc). Touring/Dyna is an "A" motor. Softail is a "B" motor. "B" engines have extra counter rotating shafts inside to take care vibration.
That said I think they all vibrate at idle and unless drastic is normal, but as you get going (at least around town riding) the SG and RG should smooth out and not be excessive.
For rubber mounted bikes (Dyna/Touring) if you have done the top stabilizer adjustment and you corrected it more than 2 degrees difference. The manual says that this sometimes will cause excessive idle vibration. It says to loosen (not remove) your motor mount (front and rear isolators) bolts and then crank the engine and run for (I think it was 30 seconds). This allows the rubber mounts to adjust to the new position of the engine tilt. Then retorque the mount bolts.