I am a big proponent of controlling these harmful vibrations both after the fact,(dampers and similar) and before with good design.
Here are some good articles that discuss the noise induced by poor Camshaft design.
https://www.highpowermedia.com/Archive/category/camshafts
Some of the spring forces I see and hear about actually do scare me. I talked to a customer recently who is running over 100 lbs on the Intake seat closed. I know the parts are lighter, but we have seat forces down in the 50 lb range as a comparison.
Maybe the above articles will be of interest. Lowering the forces required to control the valves, opening and closing does save torque loss. High hertz stresses built into the cam design will lower torque numbers and wear out parts.