the 2019 ES300H makes noise when off and keys not nearby?

Could be a feature turned on that keeps a pump on for recirculating the coolant. Have a look in your manual perhaps you pressed a button on the climate control that has that feature. If no luck give the dealer a call or bring it in. I am sure it's still under warranty. Good Luck!

It also could just be the fuel pump still circulating s bit, pretty normal for most cars.