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Radiant ceilings and or walls is a nice clean, quiet, unobtrusive option. Typically run 110 supply or lower.

I have seen radiant walls with the tube around the bottom 3’ of the wall with a wood wainscot over the tube. No need to worry about picture hangers getting to the tube, with tube down low🫣

If it is a super insulated low heat load, I would not go with a radiant slab, it will rarely feel warm.

That boiler, as per the installation manual should have a full size bypass or primary secondary piping.

The table #1 shows the minimum flow, I doubt that pump, flowing through a 3/4 zone will get you anywhere close to the 14 gpm min. Much less the 18 gpm suggested “normal” rate. Maybe just crank it to its highest speed, although the noise is another issue. There is a reason you keep eating circulators.

In addition I think the boiler oversized by a bit. A heatload calc on three home would determine that. Adding up all the heat emitters is another way to check the boiler output match up.

I think you are headed towards a repipe, maybe even a smaller boiler, although cranking down the red know should lower the boiler firing. Look inside as you adjust, does the flame size decrease? The label on the boiler shows a low end firing of 78,750 btu/hr

My initial thought is you have air in the pipes that hasn't been purged out. How long has it been doing this?

Try taking out the ifc from the circulator if it's in place. Integral flow check valve. That could be vibrating causing the noise.

" On some zones, as you'll see in the video, the pump runs at around 58 watts while pushing only ~6GPM. Does this mean that the pump is undersized?" Not necessarily undersized. Is 6gpm enough to heat that zone. My experience with this 2218 is it runs full power 58 -65 watts until the delta is satisfied and then it backs off significantly to 7-11 watts until Delta exceeds parameters then it goes back to full power. There is not much for middle ground.