Other Toyota hybrid drivers say you get used to it eventually. Tesla used to allow you to change the sound but the FMVSS mandates the audible sound to warn blind people of oncoming vehicles. The problem is that ICE vehicles are now quieter and the blind community even objects to the mandate. There are youtube videos and online tutorials on how to quiet the sound or connect resistors to the wiring so that the warning message doesn't pop up if you disconnect the speaker. Problem is you are opening yourself up to potential lawsuits if you hit a a pedestrian and it is found you disconnected the warning speaker and Toyota dealerships also may report or refuse service if they notice it has been tampered with.