I enabled the audo in the config.txt:
# Enable audio (loads snd_bcm2835)
dtparam=audio=on
disable_audio_dither=on

Installed the pulseaudio based on the 19.10.1 aarch64,

Then run paplay test.wav (about 30 seconds), no problem found.

How did you test the audio?

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https://bugs.launchpad.net/bugs/1857227

Title:
  PulseAudio sound disappears on hdmi via stereo output

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