I've always heard mine, but never found it obtrusive, and they don't bother me any more after this discussion. The hallway and bathroom ones are quite noisy due to the acoustics of those rooms, but I don't particularly care about those rooms being quiet.
The living room one is nice and quiet both because of carpet and sofas, and the fact that there is no direct line of sight from the listeners ears to the HR92 due to the positioning of the sofas. This helps a lot I think as only reflections that have bounced off something soft and absorbent will reach the listener.
Likewise in the bedroom although the floor is bare laminate you have a massive big duvet acting as sound absorbent material, also the layout of the room and wardrobes means that once again there is no direct line of sight from the HR92 to our ears when we're in bed, I have to strain to hear it in a quiet room if I'm already awake. If there is any traffic noise going by it drowns it out.
Only the big long sweeps from open to closed or closed to open are noisy - the small adjustments made to maintain the temperature are both short and generally quiet. We have the bedroom scheduled to 16 degrees through the night rising to 18 in the morning so the valve is already at the opening threshold to maintain 16 degrees so doesn't have to turn much to increase the room to 18. If it was scheduled to 5 through the night I'm sure it would make more noise since the motor would be turning for a good 30 seconds to open instead of maybe 2-3 seconds.