To get that bone dry feeling you do have to overdry in condensers, yes.
Things do finish out just by shaking out for the most part, yes.
Heat pump dryers however have the benefit of being abled to drop relative moisture content below ambient.
The amount of moisture in the process air is dependent on how cold the air gets in the process.
The lower it gets, the less moisture the air can hold.
A vented dryer always has room air to work with, so the air in the laundry at the end of the cycle has the moisture content of the room the dryer is in.
Thus laundry mostly feels as dry as it actually is.
A normal condenser could theoretically only get as cold as room temp but in reality will always be quite a bit warmer than ambient.
So the air inside the laundry will contain more moisture by weight than the ambient air.
Thus the laundry feels moist even though the fabric itself is dry.
As soon as you exchange the air with room air, the fades away and the clothing feels as dry as it is.
A heat pump dryer can drop the relative moisture in the air really low since the cold side of the heat pump can get quite a bit below ambient.
But to take advantage of that, you'd have to really overdry the laundry.