Fully depends where you are when it hits and how long it lasts.
I once never felt a 4.2, I was hanging out my washing, came inside to a dozen messages from DH to see if me and baby were ok. He felt it bad in his office but we lived up a hill and I didn’t feel a thing. If I’d been indoors I’d have probably felt it, our house was wood and on stilts, it would have rocked back and forth without much impact. It use to sway in the wind.
however, another time in a supermarket 5 min down the road, I felt like the whole place was going to collapse because of the noise from all the shelves and shaking windows. I can’t remember but I don’t think it was above a 4.
Places with regular earthquakes will have buildings that are equipped to cope with them, not like here in the UK.
The sensation can be anything from feeling like your being jolted to actual shaking. As well as movement the noise can be scary if your not use to it, from shaking walls to a rolling thunder sound.
Most places that have earthquakes have them 100’s of times a day, they just aren’t noticeable, especially to locals who aren’t phased by them usually.