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I think having the option to turn on or off an audible sound would be preferred. I don't want to sound, but if they let you turn on a sound it would be the best option.
Agree with you it is a bit confusing. When I leave the car, I've found another suggestion someone made here earlier helpful. I keep the mirrors set to fold in when it's locked. Otherwise, when you're in the car, there is a little green light on the lock button on the driver's door when lock is activated. That's about the only indication I've found though. I do find some of the "intelligence" in the electronic lock system a bit frustrating. For instance, I leave the car on, but then want to open the tailgate. You can't hit unlock on the key, and you can't kick to open, even with the key in your pocket. It ignores it. You have to go physically push the unlock button on the driver's door, and then use either the dashboard button, or the button on the tailgate to open it. Little frustrating with your hands full of groceries. Now, I'll admit this is a "first world problem", and one I wouldn't even have if it wasn't for having the plug-in hybrid 450h+. I frequently leave the car on for the radio, climate system, etc. with teenagers who want to stay in the car if I make a quick run into the grocery store. I'd never do that with an ICE car, but it's a nice extra perk of an EV.
The only problem with this solution is if you press the inside button to lock when you get out, the mirrors will not fold. I’ve found in mine at least I have to use the lock button on my fob to get the mirrors to fold.