Drone camera quality
It doesn't matter what the camera quality is today. What were the cameras on phones like a decade ago? Now they have much better quality, resolution, and optical stabilization. The only reason they don't have optical zoom is that they can't fit that in a thin smartphone profile. That wouldn't be a concern on a drone. Drone voyeurism will be more practical in a few years than it is today, just like having your smartphone as your only camera is a lot more practical today than it was in 2009.
As for the noise, if you have a decently insulated house and the window isn't open, how are you going to hear a drone from 100'? I can barely hear my next day neighbor's lawn mower, that's closer than 100' and louder than a drone.