We live in a town home and I don’t think the neighbors (were on the end so only one neighbor) can hear much because they’re older and the walls aren’t thin.
When I was still in college and we lived in a condo they all probably could, we would have sex with the window open (2nd floor) and didnt give a f. They screamed and yelled coming back home at all hours wasted and jumped in the pools regularly at 2am. So I didn’t care if they heard sex🤷🏻♀️