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.