Tire noise is not nearly as loud as you think it is
Outside of first gear on an ICE, the noise of tires on the road will dominate the noise that any properly functioning modern vehicle is making. The tire noise is still very plainly audible on a car that is simply coasting with no engine running at all (which could be argued to be comparable to the noise level of a pure electric vehicle) at even surprisingly slow speeds... basically anything over about 15km/h or so.
That said, tire noise rises logarithmically with speed, and at slow enough speeds, it can admittedly be difficult to hear. However, as the speed of the vehicle is reduced, the driver also gains much more time to react to anything that might be unexpected, and at speeds where the tire-on-road noise is genuinely not easily perceptible, the stopping distance can be well less than 10 feet (virtually zero in many cases) unless the road is icy (which incidentally tends to be noisier on tires than asphalt at a given speed anyways, and so is more likely to be heard anyways).