Is it normal...

[Masiv44]

To feel vibration in the steering wheel from the engine? 

[Paul Mingay]

1 hour ago, Masiv44 said:

To feel vibration in the steering wheel from the engine? 

Not normally 

[Spock66]

Are you sure it's the engine, poorly balanced wheels will cause steering wheel vibration.

[Masiv44]

As I accelerate from slow speeds the vibration matches the sound I can hear. The engine noise in my RX is louder in the cabin than I expected. 

[JN88]

engine problem - unlikely, spark plugs may need to be replaced
Incorrect tire pressure. unbalanced wheels, as written above.
there may also be wear on the suspension or steering, and vibration can also be transmitted to the steering wheel

[Masiv44]

54 minutes ago, JN88 said:

engine problem - unlikely, spark plugs may need to be replaced
Incorrect tire pressure. unbalanced wheels, as written above.
there may also be wear on the suspension or steering, and vibration can also be transmitted to the steering wheel

It exactly matches the feel/sound of engine when accelerating from slow speeds and pulling off. 

I haven't got a clue what it could be. 

I don't know what it could be. 

I'm going to get the wheels balanced and a four wheel alignment to see if that makes any difference.