There is an audible 'pop' when I change volume using the slider in System Preferences. I can also hear it when volume is being unmuted using the soft button on touch bar.
I do not hear any feedback when volume is changed via touch bar.
I have tried tapping touch bar volume button and then dragging the slider, tapping volume icons around the slider, pressing and holding volume button without releasing touch bar; none of them provide any audible feedback.
This is true for both built-in speakers and 3.5mm output.
Is there a way of enabling feedback sound when volume is changed via touch bar?