I got a good look at my sister-in-law's 2012 Leaf, and the noise maker is very subtle. I knew to listen for it, but if you didn't know that it was there, you would probably assume that it was just the motor and/or gears whirring. It is almost subliminal, and quite tasteful, really.
The car also beeps when backing up, and this is louder than the "low speed" noise, it is hardly going to startle anyone; let alone be heard from say 3 parking spaces away.
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