Disclaimer: I work for one of the heat pump manufacturers in Europe (albeit with connectivity solutions and not actual heat pump technology)
About one in five houses have heat pumps where I live (about 40km south of Oslo) and I can hear them humming as I walk past but of course they are not the latest models. Still they are orders of magnitude quieter than the units outside the flat I rented in Cary, NC ten years ago.
There also exists heat pumps which transfer heat to water-based central heating system (radiators / floor heating), eliminating the noise issue. The heat source can be either outside air or liquid circulating in soil/well (possibly supported by solar). All these combinations are relatively common in Scandinavia, air-to-air pump being most popular because of quick ROI (small initial investment) and easy retro-fitting, althought practically all new houses are built with water-based central heating (the heat source being either of electricity/solar/wood/air pump or any combination).
Has that improved? I'd expect the market in Scandinavia to be much more developed than in my country.