Look at the pics in this thread for a side by side comparison of a metal sheathed plug (Beru) and the Bosch ceramic
viewtopic.php?f=5&t=63113 The ceramic has a small nipple like feature on the end.
Measuring PWM on a multimeter is questionable. Coupling, bandwidth and PWM frequency will all play a part so a different manufacturer/model of meter will give you a different result
making it difficult to compare your findings with other owners.
One thing to note is that the voltage spec of the plugs is RMS voltage. You are probably measuring something close to average voltage with your multimeter set to DC. If this is the case, and we assume a peak voltage of around 11V available at the plug after wiring and control module losses, 5V
avg corresponds to around 7.4V
rms.
To read this voltage properly you need an oscilloscope or true RMS voltmeter but even with the latter it needs to be able to account for the DC component of the signal which not all meters are capable of.