Here is Derek Coopers video of his Roundhouse Russell and Silver Lady, together with his Accucraft Lyn on his railway in New Zealand. Simple passing shots give a good idea of the sound on a level track.

Here is my Accucraft Countess hauling a mixed goods on a very cold December afternoon. This remains manual control, but I am tempted to convert it to R/C......
There is a close-up of the valve gear in action towards the end.