I'm lucky enough to have kind of witnessed a launch in person. I used to live in Florida, and they would fly over my house occasionally, though somehow I only managed to be awake for one. It was crazy though, I had no idea it was coming and I was just hanging out in the living room doing nothing and all of a sudden I started to hear what sounded like just a jet at first, but then it got ear-splittingly loud and my house started to shake. Ran outside to see what was going on and was just like "................". It was pretty sick.