That's a bit of a hard one as some people have a lower tolerance than others for noise.
Dogs barking at night waking people up will always annoy as well as barking for extended periods during the day.
Sometimes just the pitch of the bark can effect you more. Zeus barks a deep bark that is loud and would get annoying after a while but Kodi has started doing this high pitched girly noise that sounds more like a yelp and it goes right through you. I can't put up with that for too long.
Maybe if you can just listen to them for a while and try to hear the noise as a neighbour that's living close to you would you might get a bit of an idea if it would bother you.
If it's going on for more than say 5 minutes continously than it would probably annoy neighbours.
I'm in the same boat as you living rurally so don't have this problem.
Maybe there are others on here that have had problems with neighbourhood dogs barking that can help more than me.
P.S. Happy Birthday Koda!
If you think dogs can't count, try putting three dog biscuits in your pocket and then giving Fido only two of them. ~Phil Pastoret