In Deus Ex HR you do hear footsteps and sound from landing etc sound depends on the surface you are walking on. But its not as pronounced (body movement) as other games so guess the movement can seem a bit floaty.
edit: uhh i dont have Doom so just going by that video..it doesnt look like proper movement feel to me at all. Almost zero movement sound...no head bob (checkout 0.47 mark). I dont think i see what you're getting at tbh if Doom is a good example where they did movement right.
edit: looked at doom a bit more
I think basically you prefer the more twitch based responsive movement of player characters you are used to in an FPS so when you play an rpg which has movement way more restrained it puts you off...coz you cant do your "bunny hopping"?

(to put it bluntly)