I've driven the Ioniq 5 and I can easily hear a high pitched motor whine at speeds between 45 and 60 mph. I cannot hear any noise below 45 or above 60, other than the intentional pedestrian warning sound.
I suspect as I age my ability to hear such high pitched whine will be gone.
Tesla is new and mostly for tech-oriented people, the expectations are new and more techy things are ok. Legacy brands have expectations set in peoples' minds, so they have to keep up with their history.
It's more a tech-guy thing than EVs: I'm very aware and listening to sounds made by ICE cars or motorbikes, and I'm not a mechanic, just a little bit techy. The sounds are different on EVs because some are new to us: those related to charging, the battery, the motors, ... we don't expect them yet. That doc is really good for this, but only for us technies. Most people won't care until something is not functioning though.
The mandatory noise maker is an important pedestrian safety feature. It helps you avoid getting hit by cars. It's also only required at low speeds (and at higher speeds it wouldn't matter anyways due to tire noise dominating).
This isn't a problem in my neighborhood, the opposite has now happened. I can hear my neighbors more than a block away. And it's actually not the EVs that are the worst offenders -- it's Toyota hybrids. They -howl- and are much louder than the non-hybrid equivalent. My Model 3 just makes white noise. Same volume as any other unmodified car at low speeds. Tire noise quickly dominates in either case, of course, above 10-15 mph or so.