The feel of tyres have to travel to the whole suspension before it reaches to the occupants.
Given the Yaris suspension are offered as tuned for most comfortable ride, hence it is not possible to feel. I daily drive both Altis and Yaris and Yaris is much soft and pleasure full.
As far as noise is related, it is due to the various road surfaces we travel upon. In our country there are no standards of road construction and in a single journey we face many types of surfaces and we feel different types of noises calling the oem tyres as noisy. The tyre dealers get the roads of their vicinity carpeted smooth giving a false feel that after tyre replacement with xx brand the drive is smooth and quiet.