I have a 2014 SLE Sierra.
I have no noticeable noise difference between 2H / Auto / 4H
I live in Canada so I've been using Auto and 4H quite a lot in the last few months.
I can tell when it's in 4H but only because there is some resistance in the steering if I do tight turns.
Other than that, it's almost impossible to tell unless you look at the switch.
(I don't think I've ever used 4L, and probably didn't with my last truck either)
Sam :-)