I'm pretty sure it will beep. I think it does that whenever the myq hub receives an API call to close the door. Hopefully it doesn't, but I wouldnt hold my breathEven though I can use the free iphone app, I think I'll pay the $3/month for the convenience of being able to use it in both of my cars (assuming my legacy S eventually gets the feature?), and I have more than 3 devices that use myQ (gates, a couple garages, MIL's house, etc), so the homelink capacity of 3 devices is a hassle. Since it will also do geofencing, it may be convenient. It will be annoying if it does the same thing that my phone app does, in that it flashes the garage door lights and beeps a bunch before it closes..
I think it's a safety requirement that is required when you aren't in visual range, which is why garage doors don't have to beep when you use homelink/remote because of the limited RF range.