I have a 23 Mustang with the 2.3. It is not a quiet engine and makes a fair bit of top end noise in particular during the first few minutes of running. If you put the car in Sport Plus mode it changes the audible tone, but they must have changed it because it sounds okay and is actually kinda fun if you're in the mood.
My son has a 21 Explorer with the 2.3 at 100k and it sounds way quieter than mine in the Mustang, probably intentional on Ford's part.
Not the engine, but when the gas tank is completely full you can hear the high pressure fuel pump pulsing. I've heard that in other Fords though.