Personally, I will not disconnect my VESS. Here's why:
We have some construction going on near us and happens to be on the way to my free charging station. So I walk it often. Because of the construction, the sidewalk is currently closed on the side I reach first, and have to walk on that side of the street with my back to cars until I am able to cross over to the other side with a sidewalk. Cars come up (it is also on a hill) the street slowly because of the construction, and ICE cars can be clearly heard. Not so with electric cars unless it has a VESS. If I don't hear a car coming from behind me, I then look to cross. But if I didn't look (and maybe some people wouldn't, esp kids), they could walk right into the path of a car, if they didn't hear it coming. While walking there yesterday, and crossing the street, made me think of this thread.
Another scenario might be in a parking lot, looking for an open spot. There are often people walking with their backs to an approaching car from behind. If they suddenly decided to cross, because they didn't hear you coming, would be an accident. Probably not fatal with the low speed, but still not pretty.
So while I may not like the sound, I think I will leave it connected. In reality, unless my windows are open, barely hear it anyway, so doesn't bother me.