It isn't your shoes or your keys. It's the zipper rasp, packing tape, and the bathroom counter routine you don't notice anymore.
The zipper rasp is basically an alarm tone

I learned this the year I switched from a duffel to a hard-shell carry-on. Same trip, same length of time, same everything, but my dog went from mildly watchful to full front-desk concierge the second the suitcase came out. It wasn't the suitcase itself. It was the sound. Zippers have a very particular rasp that doesn't happen in normal life unless you're opening luggage, a toiletry bag, or the little mesh pocket you only touch when you're about to be gone. Even my cat, who ignores most human business, will lift her head at that exact noise like she's been paged.
Try it when you're not leaving. Pull the suitcase out, unzip it halfway, and stop. Don't add other cues. Just that one sound. Most pets will show up in under a minute and do their personal version of quality control: dog sits too close to your knees, cat parks on the lid, somebody sniffs the wheel wells like they're checking tire pressure. If you use packing cubes, it's even funnier because the cube zippers have their own higher-pitched version of the same scratch, like the remix nobody asked for.
What makes the zipper special is how consistent it is. Your routines change. One day you wear a hoodie, the next day a coat. You might pack on the bed or the floor. But the zipper sound is steady, and it travels. A pet can be dead asleep in the other room and still catch that rhythm: zip-zip-stop, zip-zip-stop. And if your suitcase has that stiff, crunchy fabric lining, add the soft crackle when you flip it open and they get a full soundtrack. To us it's background noise. To them it's the opening credits.
Why the bathroom counter is your pet's departure calendar

I can pack clothes without raising an eyebrow in my house. Fold some shirts, stack jeans, whatever. The moment I start assembling the bathroom-counter lineup, though, I get the full audience. Dog appears in the doorway. Cat chooses the most inconvenient spot by the sink. It's like I've put a date on the calendar in a language only they read.
Look at how weird our pre-trip toiletry behavior is compared to a normal day. On a regular morning, you use your toothbrush, you put it back. On a packing day, you leave it out to dry. You set your deodorant down next to the travel bottles. You pull out the contact lens case, the little tube of Aquaphor, the razor you only use when you're going somewhere that involves photos. If you wear fragrance, that bottle comes out too, and the cap makes that tiny click that never happens unless you're packing it.
Pets notice the clustering. Their entire job is pattern recognition plus nosiness, and the counter becomes a still-life of departure. My dog has even started keying off the travel-size stuff specifically. The small sunscreen, the mini dry shampoo, the 3 oz face wash that lives in a toiletry bag unless I'm trying not to check a bag. Those items don't exist in his normal week. They're like props from a different show.
If you want to see how sharp they are, change one piece. Pack everything else, but don't do the counter pile until the last second. Or do the counter pile and never touch the suitcase. They will still hover, because the smell changes too. Toiletry bags carry a concentrated mix of your shampoo, toothpaste, and whatever fabric the bag is made of. When you open it, the scent blooms out into the room. My cat does a slow, deliberate sniff of the open toiletry bag and then gives me the exact look that says, "So. It's that kind of day."
Packing tape, lint rollers, and the weird little finishing sounds

My favorite part of this whole phenomenon is how often the suitcase isn't even the giveaway. It's the tiny finishing noises that only happen when you're trying to make your stuff travel-ready. The first time I realized it, I was sealing a shipping box in the kitchen, not packing at all, and my dog still came trotting in with that hopeful, worried face. The sound of packing tape unspooling is close enough to the general category of trip-prep that he wasn't taking chances.
Those sounds stack up fast. The rip of a fresh strip of tape. The click of a TSA-approved luggage lock snapping shut. The clack of a telescoping handle when you test it twice, like the second test is going to reveal something new. The light thud when you set shoes into the suitcase heel-to-toe. Even the Velcro scratch if you use a luggage strap or a packing cube with a little compression panel.
And then there's the staging area. A folded tote bag by the door. A passport wallet on the table. A phone charging on a weird outlet because you pulled a power bank and a wall plug out of the junk drawer and now they're living in a neat little pile. Pets watch that pile form the way they watch you fill their food bowl: it's a sequence, and the sequence means something happens next.
I also swear they learn the pre-zip ritual. I do it every time: a quick shake of the suitcase to settle everything, one hand flattening the top layer of clothes, a last-minute scan for earbuds, and then the zipper run. My cat will jump onto the suitcase right at the flattening stage, like she's trying to physically interrupt the timeline. My dog waits until the zipper starts and then plants himself so close I have to step over him to get around the bag. It's not strategy. It's pure protest with excellent timing.