I suppose errors that cause drop outs would be audible for sure, but let's just say that a numerical value a sample was wrong, but a valid possible number for a sample to have. That might not be heard.
Single sample worst case would be like an "impulse".
Here are three where there "should" be silence. Top, source data, bottom, in-room sound:
You'll hear a "tick". If your ears are real fast, you might hear three, as these are a millisecond (44 samples) apart.