Presently, when a raid first appears, there is a banner that shows at the top, but no audible tone. The first audible warning happens when the raiders begin to attack. If the initial notification is missed it is too late to muster your military at the point(s) of attack.
We have audible tones for more mundane things such as traders arriving
It would help if there were an audible tone when it is first announced that raiders are approaching. Perhaps a short drum riff. Anything that draws attention to the banner so troops can be deployed.
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