Landtuna,
In the early days, HD stations were processed for quality and there was a big difference in audio quality over FM, then commercial stations began processing the HD's to sound exactly the same as the FM's so as to avoid the sudden changes in audio when HD drops out and the receivers revert to FM, so yes, FM and HD will sound indistinguishable when they are processed to sound that way. Generally, the secular non-comm HD's will not sound much better than FM either, but for a different reason: they are processed so lightly on FM that their lack of compression on HD is only slightly better (more natural), however their frequency response will go to 20K on HD, 5K higher than on FM. Few of us can hear that high at our ages, but there are audible differences in the bright, crisp overtones that even we can hear.