For me, unless I hear it over road/tire noise, I consider it normal. The HUM is heard only when power is applied, as in hard acceleration (normal to certain subjective level, tho), or keeping power on to maintain speed on the freeway - this is where it's most certainly NOT normal, if you can hear the motor cruising at 65mph on the freeway, as at that speed road/tire/wind noise is loud and tends to drown out all other noise. Some on the forum have reported the hum only noticeable at different speed. Mine was HUMming at ~45-48mph, and ~65-68mph. Certainly, any Toyota tech test driving it would say it's normal since they won't know what to listen for (or used to the normal ICE hum).
Also, it seems to come and go, but somewhat tied to temperature, much much more noticeable when ambient temp is 40-60F or less and can be reproducible all the time. At above 80F, I sometimes can't hear it over rd/tire/wind noise when cruising at 65mph.
Even after mine motor/tranny was replaced, it's still there, but much much bearable than before.