I agree wholeheartedly with @soix when he said:
All the 24-bit recordings I’ve heard have a liquidity, flow, ease, and naturalness about them most 16-bit recordings don’t, and as a result they sound relatively, for lack of a better word, grainy and less refined/natural by comparison.
I don’t think my ears are good enough to tell the difference between 192 kHz and 96 kHz, but whether a recording is 16-bit or 24-bit seems to matter more than to that sense of ease and flow than whether it’s sampled more times per second.
Maybe that makes sense, because 16-bit can "only" resolve only 65,536 possible variations, where 24-bit can resolve 16.8 million. That’s a x256 difference as opposed to a x4 difference between 48 kHz and 192 kHz.
I think it has a lot to do with the frequency and complexity of music. I listen primarily to jazz and classical music. Complex music with a lot going on at high frequency can become a screechy mush on CD that is painful to listen to. Classical music on vinyl or high-resolution FLAC sounds smoother, richer, clearer and more open.
To put it another way, all hi-fi pales compared with live music, but the better it is, the better chance you have of achieving a suspension of disbelief where you believe you are there. Any recording can burst that happy bubble, but lower resolution formats do so sooner, and more frequently, than better ones.
On the other hand, I have a treasured CD called "Jadyadie" with John Dankworth playing with his son, the bassist, Alec Dankworth. It’s fabulous. I can’t fault it, and I think that must be because it’s both simple: just two (superb) performers, both playing instruments in the low-to-mid frequencies, and well within a CD’s comfort zone.
That’s my penny-worth anyway.
Guy.