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Easy solution: get a cat (or several). You'll either attribute every suspect noise to them or you can observe their reaction in case it happens again.
Problem for me is hearing a random noise in the kitchen and seeing both my cats with me.
Secret third cat
This seems likely, it's my understanding this is how the cat distribution system works.
According to Pixie and Brutus / Litterbox, they just show up!
You could always just assume they shoved something to the edge of the counter and it finally fell in. Besides, if it were important, they'd get up to investigate
I have done ths. Weird sounds happening and the cat is acting fine. If the cat is not worried neither am I.
I got a Chihuahua instead. If it's something out of the ordinary, she'll bark. Oh, she will certainly bark.
My cat growls if someone is at the door. I don't worry about shit. It's great.