Your ears are more sensitive to higher frequencies than lower ones (not too high though), so if your speaker creates the high pitched sirens with the same power as lower sounds, the sirens appear to be louder. But normally, your speaker considers this and tries to create sounds that feel equally loud, so I think most of the time it is intentional to increase tension.
Additionally, when you’re hearing a high “beep” sound, your ears can’t tell the direction it is coming from, so it seems to be coming from everywhere at once.
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