When the engine is off and not combusting fuel for one of an auto-stop portion of an auto-stop/start event and operation in a sail mode, a selection module sets at least one of: a selected torque based on a pseudo torque output of the engine; and a selected engine speed based on a pseudo engine speed determined for the one of the auto-stop portion of the auto-stop/start event and the operation in the sail mode. A sound control module, based on the at least one of the selected engine speed and the selected torque, sets at least one of: a frequency at which to output a predetermined engine sound; and a magnitude for outputting the predetermined engine sound at the frequency. An audio driver module applies power to at least one speaker of the vehicle to output the predetermined engine sound at the frequency and the magnitude.