A diesel, maybe. With the annoyingly loud valve chatter of a diesel, but a modern gasoline engine idles nearly silent, and someone in front of a car will not be able to hear the exhause. Unless accelerating, the sound from an approaching gasoline-powered car is close enough to an electric one that the pedestrian is an idiot if they are relying on sound. You would hear tire noise clearly from quite a distance, even with an electric car.
Go stand in front of a Lexus LS460 at a steady 55 mph. You'll not hear much as it approaches. Repeat with the Tesla, and let me know the dB difference. I'd expect that the sound at 100 ft would be audible from both, and within 3 dB of each other. But I don't have the time, or inclination, to test.