Our cat can recognize the sound of our approaching vehicles and arrange to be at the back door just in time to get in and hit the food dish. (The dog is almost always in the vehicle when a vehicle is on a “trip”- but if asked about various people and dog buddies by name will go to the house windows to see if they have really shown up to have a love-in.)
Hubby is a retired firefighter, 33 yrs. He used to work 2 on, 2 off, 2 on, 2 off, 2 on, 8 off, unless he was away on a fire. Our dogs always knew exactly when he was due to come home. On that day about half an hour before he would come home they would go lay in the living room (closest to the street) and they knew the sound of his truck when he turned the corner. As soon as they heard it they would get up and go sit by the back door and wait.
If he went away on a fire it really screwed them up. Lol. I used to tell them over and over.....he’s not coming. Eventually they would give up.
I kept peacocks at one time. They could recognize the difference between the sound of our car engine, or a stranger’s. They would kick up a huge fuss whenever a stranger’s car drove into our property. but, they didn’t make much of a fuss at all when we came home.