Small and light drones are still very noisy. It is not as bad when it's in a steady state, but any maneuvering increases noise by a lot. We have replaced moving parts (as in helicopter swashplates) with fixed, but quick to react motors, spinning at a very high speed. Those generate lots of turbulence whenever they need to shift speeds for maneuvers.

There's someone in this thread saying that their F150 is less noisy than a drone. That is unlikely to be true, but the emitted frequencies are very different. A high pitch whine is, for whatever reason, very noticeable, compared to a lower pitch of similar amplitude. Think dentist drills.