Hearing weird noises around the house can be scary. Especially at night when you are alone. There is usually a natural explanation to all those noises, but it can still make your imagination run wild.
Living with cats for over two decades have gotten me used to hearing such noises all the time. I bet there could be anything happening outside my bedroom door and I wouldn't even bat an eye for those sounds, accounting them for the cats. They are often having zoomies during the night, tipping over stuff and dropping things from the shelves etc.
Last bight my wife dropped our youngest one to my place at the middle of the night. I was already sleeping and while I did register them entering the house at some level through my sleep I didn't even fully wake up to those sounds. Not until they started to talk. Even though they were keeping their voice low it was still something unexpected and did wake me up fully, but as I did recognize their voices it didn't get me startled. I was only wondering why they were here all the sudden.