It will, and this is indeed what Nyquist tells us. Think about the engineering challenges involved in producing an exact staircase output! A stepped signal isn'

It will, and this is indeed what Nyquist tells us. Think about the engineering challenges involved in producing an exact staircase output! A stepped signal isn't nearly as beautiful. Most DACs today are also of the delta-sigma variety which produce something much more sinister. But that's all fine, as long as we describe the output signal. There can be overtones high up in the ultrasound for example. The output filters are then what produces the nice signal you listen to. Bad output filters can produce artifacts that sometimes hearable, especially in DACs from the 80s, but if you to stick to the suggested implementation of commercially available DACs today then you should be fine. Quantization errors is more problematic since they can appear anywhere in the post production chain. When you're in the digital domain you can get all sorts of aliasing artifacts just as you get for images. I think this is a common source of when people can hear differences between 44 and 96 kHz signals, where they just downsampled with a linear filter and they hear artifacts of this resampling. A little quantization noise will take care of that, and competent software such as sox and audacity will do this for you.