It doesn't change at all. The sound settings say that the output is
"Headphones" even when they are unplugged.

Yes you are right that my speakers are connected to the gray jack on the
backplane. They have always been connected that way and failover between
speakers and headphones has worked in previous versions of Ubuntu. Now I
changed so that the speakers are on the green jack instead and failover
now works correctly. So thanks for that tip. But since plugging them
into the gray jack has worked before I still think there is a bug here.

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https://bugs.launchpad.net/bugs/1521987

Title:
  Sound is not automatically switched back from headphones to speakers

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