This seems fixed for latest kernel 4.4.0-28-generic. (I had to clean up my 
pulseaudio with 
'pulseaudio -k && rm -rf ~/.pulse && rm -rf ~/.config/pulse' ), and both were 
fixed (startup with jack connected and plugging in headphone)

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https://bugs.launchpad.net/bugs/1583801

Title:
  No sound via headphones (headset) when Ubuntu boots with them plugged
  in [XPS 15 9550]

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