There's a lot of vibration, but the G forces are not that high, and they are particularly low during launch. The highest G force is right before the main engines cut off, once the rocket is already in space, at which point you presumably don't care anymore...

For falcon 9 you don't even reach 2G until more than 60 seconds into the flight when the engines throttle back up after passing through max Q.

Acceleration graph: https://qph.fs.quoracdn.net/main-qimg-23ba4a3fe7f535430bed80... (from https://www.quora.com/What-is-the-acceleration-of-a-Falcon-9)