The only time I wish I have sensors is when I start on an incline and the board starts to go backward before I hit the throttle. It cuts off when it can't handle the load anymore. That is the thing I like about the Hobbywing Xeruns, instead of cogging, it cuts off or shuts down. That is more desirable especially for newbies that step on my board, or any electric board. If a first-time rider experiences cogging at startup, they just put the remote down and step away from the board. It totally zaps their confidence. By just cutting off or shutting down, it's a much subtle experience and they just try again.
Having said that, the startup IS smooth, you can see from the videos. I was talking about falling backwards when you have the Hub motors in front and accelerate too fast, it will just go and leave you behind if you are not ready. Consequently, if you're going too fast and slams on the brake on a FWD, it will stop and your own momentum will carry you forward.
The motors are not loud when you are slow. I can go on the sidewalk and people don't turn my way to look. They just think it's weird seeing an adult on skateboard. I admit the brakes are loud though, slow or fast.
Personally, I prefer the noise especially when you are going over 20mph. At that speed, you are not only relying on your evasion skills, but other people's evasion skills too. And the noise alerts them to that. You do not want to be going down on a side of a busy and noisy road with cars whizzing on your left and in front, the driver of a car stepping out of the curb to get into his/her car and blocking your way. With the noise, they usually pause and let you go through.