I expected I might annoy Geotechnical engineers with this vague question. I realise that undisturbed soils can exist in various states - stiff, soft, loose, dense etc.
Many Geotechs and Pile designers I work with base their preliminary design on some assumptions, prior to lab tests. I was hoping to find out what these assumptions are based on. But I suppose it is down to experience and knowledge of the local ground as you suggested.
Personally I'm all for drilling and testing.