I've had my 2020 R23 for 4 months now, and I agree that the hull noise whilst underway was a bit of a surprise.
Mainly because my last boat was much larger/heavier, and the helm was a bit away from the actual hull, so it was fairly quiet unless you were in the front berth, where you could hear the muffled hull-slapping of which I assume you're talking?
I attributed the increase in noise to the fact that we are sitting fairly low in the hull, and there is a large portion of the front berth that is not only close proximity to the helm, but by nature of maximizing usable space, not able to be well insulated.
While I doubt that the noise is coming from the keel and garboard (admittedly wooden boat terms), I would assume that it's coming a bit up the rake. Probably around the area of the V-lockers? That's about where the chop would be slapping the boat. I was thinking of adding some sort of sound cushion that can be adhered to the inside of the lockers, which may mitigate some of the noise. I have yet to do any research.
If anyone has any input... I'm interested as well! 😀