A small nit (sorry): it’s probably not a matter of sensor quality (decent quality microphones are not very expensive), but rather the neural networks that process the audio signal.
It’s a blend of both. The human ear has a vastly more complex structure than a membrane and a sensor.
We have complex flexible shapes to channel audio. Alongside an extremely complex set of hairs for hearing.
That should be part of an assessment that government does before allowing those vehicles onto our streets.
I don't think you need freakishly good filtering to find something as pure as a siren.
It’s almost a harder problem - I can regularly hear sirens in my town the moment they leave the fire station until they arrive at their destination - more than a mile away in each case.