I noticed PAL speedup for years in films on VHS but never thought it was a technical thing, I just thought songs just happened to sound higher when played in film for some reason. Naturally when I got the internet and discovered PAL speedup was actually a thing, I was glad that I wasn't crazy.
If I'm watching something on DVD, I can deal with it most of the time since I'm so used to it. However, whenever I hear a song or a piece of music which I've heard at the correct pitch previously, I will notice and it will bother me, though not too much. There are a few cases where this isn't the case though. Since The Lord of the Rings extended editions were pitch corrected, whenever I see LOTR on TV in its non-pitch corrected form I can't watch it since everything sounds off. Importantly, in the case of anime, I'll have heard the openings and the endings countless times before, so if they haven't been pitch corrected, I will notice it and it will bug me.
Perversely, this wasn't much of a problem with UK anime DVDs for ages since they were NTSC-to-PAL conversions anyway, which of course brought its own horrible video issues :lol: Now that we're getting more native PAL releases, this is definitely an issue for many people. It's less of an issue for me now, but that's only because I buy Blu-ray when it is available, which eliminates the issue entirely 99% of the time (with some exceptions...like The King's Speech). If pitch corrected though, I'd take a native PAL DVD over a native NTSC DVD because of judder and 3:2 pulldown, but that's a separate issue and I'm going way off track.
So my answer is yes, I have always noticed it and it can bother me. The existence of Blu-ray has largely eliminated this as an issue for me personally though, but in cases where no Blu-ray is available/possible, PAL speedup will put me off.