Yes, that's hysteresis mode current feedback - it amplifies any noise in the current-
sensing components and the motor windings act a bit like a loudspeaker and produce
audible sound. Depending on how the chip operates and what frequency its working
on it can be more or less noticeable (some keep it ultrasonic and thus inaudible).
You should find that the choice of decay mode will affect the sound.
How are the wires configured - I would suggest separately twisting together each
windings wire pair, thus reducing the current interference between A and B windings,
which may affect the noise.
Endevour to keep the wires to separate motors separate from each other and other
cables - although this may make no difference its good practice.