Been in a 5.3 and 6.8, the epicenter of the 5.3 was about 10 miles from house and was shallow. I guess it was because it was so close but the 5.3 felt much worse and I heard it before before I felt it. At first I thought it was a thunder clap but the noise just kept going then the shaking started. Knocked my power out which made it extra scary.

Also had 4.6 wake me up out of a dead sleep two years ago. Being on the top floor of a 6 story building it shook pretty good. The 6.8 was scary because it lasted almost a full minute.