my bike is an 01 so idk how much my input matters but mine definantly sounds like the second and I have a carbon fiber yoshi slip on.. it might sound different when it warms up but I cant remember paying attention that much. but I know when I start it up in the morning it sounds like it has a big set of cams in it lol

 

When it warms up, mine sounds like my first car.. 69 chevelle lol

 

Mine idles smooth whether in gear or neutral. It has 1,200 miles on it. Have not noticed any change based on ambient temperature variations.

 

Mine was like that until just recently. I started riding little harder than before. But I don't think that should affect the way it idle.

 

I watched some youtube video. It seems other people's one is idling the same. So I assume it is the normal thing. I am not sure why mine didn't do it all these time though.
YouTube - Yoshimura RS 5 Carbon

 

yeah that is pretty much what mine sounds like just a different yoshi exhaust. but if you just had your 4k tune up im sure its nothing major

 

I was talking to my R6 neighbor today. He said his bike's been idling rough too. He thinks it is air filter. He said the shop we go to don't change air filter for 4K maintenance. And we were having a very windy weather 2 weeks ago. So on Wed, when we work on my bike, I will look at the air filter and see if it is dirty. Inside of air intake area seems very dusty and dirty