Noise levels were relatively constant between P, R, N, and D at idle (parking brake applied). There seemed to be a slight increase in reverse but that settled out in a couple seconds so that isn't something I'd rely on to tell me anything.
Being able to hear the noise while driving would be tough because I have a flowmaster installed. That said, I had a coworker apply a little throttle to it while I was under the tahoe and the noise went away. Once the engine RPM went back to idle, the noise came back.
With the engine off I can smack the catalytic converter and hear a vibration-sounding buzz (first video I posted) but that's it.