I found a video of someone recording the front motor pulsing sound that I hear. Turn the volume up because it's faint. It's most evident around 0:13-0:15 when he's at 33mph.
It's a faint high pitch pulsing - and not a steady whine like you may hear instead at higher or lower speeds. The faint pulsing sound almost sounds like a bad bearing and happens at certain speeds.
As far as I know this is completely normal and I hear it too. Is this the same sound others hear?
It's hard to say, but this doesn't sound like what I'm hearing exactly. It's possible that at 33mph it sounds similar but the video doesn't go on long enough.
Whine - the more amps, the louder it is - Good in my book. I like it. EDIT: Also probably higher pitched.
Quiet pulsing noises, particularly when not under load/coasting - these are quiet and ok for me.
Quiet gear noises at low speed - Fine in my book. Have to be going pretty slowly to hear the gears (or whatever it is - sounds like a very very quiet, less whiney version of an ICE car in reverse.)
Roaring/droning (seems to be from the front motor area, it doesn't seem to be tires or dependent on the road surface) between about 37mph and 41mph - Not great. It's not super annoying, but if I'm not playing music I notice it, and deliberately avoid those speeds.