I know that talk about audio science and knowledge of humans psychopsychiological capabilities isn't popular among the audiophiles, but I think it's essential to bring it up when comparing formats.
First of all, increasing the sampling rate (from 44.1khz, which can reproduce up to 22050hz per channel) only increases the maximum frequency range in the record. So, 96khz is going to give you 48000hz per channel, but as human hearing is limited to 15.000-20.000hz, you can't hear those frequencies. SACD will sound vastly different to your dog, but for humans it's more or less impossible to hear those high frequencies. There is some debate about if those high frequencies can have an resonant effect on lower frequencies, which would be audible, but that's kind of silly.
Increasing the bits (from 16bit) increases the dynamic range. I can't remember the exact number, but I recall that Redbook CDs have dynamic range of ~80-90db. Enough to jump from silent noise background hum to jet plane taking off. SACD has even more dynamic range, but how many applications can actually use that?
There are a lot of audible differences beetween SACD/CD sides and SACD albums vs CD albums, but from the scientific point of view, it doesn't come from the format. I remember reading an article about DSOTM SACD version, where it was clearly examined and demostrated that the CD side has a completely different mastering. More distortion, mroe clipping, more compression. Of course the SACD side sounded better, but it was due to the mastering differences. The CD side was deliberately made worse than the SACD side.
Another article was about a group of listeners, who found out that SACD albums sounded way better than their CD versions, so they became suspicious, and downsampled the SACD album to 48khz/16bit and compared that to the original SACD 96khz/24bit version. In a blind test, none of them could hear a difference.
I consider SACD as a hoax. It's technically better than CD, but CD is already as good as human hearing can perceive. Only thing those new audio formats have better over Redbook CD is their multichannel support.