Not necessarily...depends on thresholds.
Karlo doesn't bark even though my other two go off at the first scent of someone. Karlo assesses the situation before he barks. He'll be the one in the shadow, stealthily watching before reacting.
Though every single time I quietly shut my laptop, Karlo barks excitedly...even late at night. I've tried to sneakily do it, and he hears it.
That sounds like Grim, though. I think his threshold is higher during the day anyway. If I walk him at night it's a different story. He's alerted on a group of loud teens... and he sounded like he meant it. I also got nervous once at a noise coming from the neighbor's yard and he went out in front of me and barked. He's very in tune with how I feel. My bitch was like that, too. My male used to bark and jump at the door...she hung back and did nothing. Just watched. That's why I used to say that an intruder may get one dog, but they'd never get them both. She was fast as lightening to attack...but was deadly silent. Now Grim looks and usually will follow the girls to the door when someone knocks, but does not bark. Outside it's the same thing. They bark, he looks and assesses. It's actually pretty cool. I do want to train him to bark at a knock, though, at some point because I'm hard of hearing. The old girl won't be around forever.