Now, this is what confuses me. Why have a higher quality format if there is indeed no audible difference?
That is an excellent question!
I wish I had an answer.
Although I can objectively make the case that there is no difference, DVD audio often does sound better to me. I remember the first time I watched a DVD movie on a nice home theater setup - it was the movie Twister, which won an Oscar for sound effects. I went out and bought my first DVD player the next day, mainly for the sound.
So why does it sound better? Don't know. In fact, quite often it does NOT sound better, but I think that's due to a lack of audio standards for DVD (compared to theater presentations). When it sounds "better" is it an illusion, maybe due to hyped frequency response and/or high compression ratios? Don't know.
As for SACD, I think that's pure marketing hype. But that doesn't explain why higher sample rates are even used on DVDs, a practice that limits the number of audio channels you can include on the disk.