On my fully updated Ubuntu 18.04.3 system, audio doesn't work unless I switch between outputs. When I boot my PC, the right output (stereo speakers) is already selected by default, but there is no audio from Chromium, Firefox, VLC or any other program. However, the GNOME speakers test works. I can hear "front left" and "front right" from there, but no audio from other programs. In order to fix that, I can simply switch to another audio output (e.g. HDMI out) and then switch back to the stereo speakers, and the audio will magically work. Any idea why? It's not a big deal because it takes a couple of seconds to switch between outputs, but it's kind of annoying to do that after every reboot.
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