Does foundation type affect how a house sounds or feels underfoot?

Slightly, yes — a solid ground-supported slab (raft, waffle, or conventional) genuinely feels different underfoot to a suspended timber floor on piers, since there’s no cavity beneath to create the slight give or hollow sound a suspended floor can have.

Among slab-on-ground systems specifically, the practical difference is minimal — the finished floor covering has a far bigger effect on how a floor feels than which slab type sits beneath it.

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