A). Yes ! I have heard an ambulance, a police car, AND a fire truck recently.
B). Yes ! ! I did notice that the pitch of the siren changed as the vehicle passed me, changing from a state of approaching me to a state of withdrawing from me.
(Refers to the ambulance and the fire truck only. The police car's siren was not turned on, but I could hear its motor.)
C). The Doppler Effect is a concept that can explain this apparent change or shift in the pitch or frequency of sound waves.