Yes, I too can relate. Usually Alani & Blaze are by themselves in the main part of my condo and they see me and come up for pets. The other 4 are usually in my bedroom and I open up the door to let them out. Pearl is always chatting at me to let me know about her day. Sometimes I see Ziggy in the window as I'm walking up to my condo. I wave at her and I bet she recognizes the sound of my car. Years ago one of my roommates told me that she always knew when I was coming home because my cats Pepper and Storm would be sitting at the front door. I'm sure that they not only recognized the sound of my car but also my footsteps.