As a cyclist, I can attest a Prius is not a totally silent vehicle. Nor, I am sure, is a Tesla although I've never encountered one on the road. The reason is tire noise.
For a modern car traveling at 20+ MPH and not accelerating, tire noise is the dominant sound. You can easily hear a car traveling at speed from a hundred yards or more away, almost entirely from the tire noise. The engine of a well-maintained car traveling at a constant 30 MPH might as well be totally silent.
At low speeds such as would be encountered in a parking lot or congested city street the engine noise is dominant, particularly because the car is doing a lot of accelerating and decelerating. At those speeds I think a modest synthesized engine sound is a very good idea, especially when you consider blind people and even more especially service dogs, who would have to be re-trained for some other kind of noise. There would be no need for the artificial sound once the car is at cruising speed.