HD and satellite sound like shit to me. But then, I can hear the difference. Most people don't care.
Yes, they sound like crap and yes, most listeners don't care.
HD radio has more potential but few stations take the necessary steps to maximize audio quality.
Stations I work for in L.A. still play songs that were dubbed from Carts that were dubbed from vinyl. They also still have songs stored in Layer2 compression at about 4:1. It is actually worse than analog FM because we are cascading algorithms between 2 and 4 times.
We had an HD3 that played cuts from mp3, through a Barix IP codec, up to the TX on a 4:1 aptx codec through a T-1, and then through the HD packaging(like AAC). It was barely intelligible and has been turned off. The recovered bandwidth was given back to the HD2 which doesn't sound much better.