Strangely, in the logs the audio failures that can be fixed by restarting coreaudiod always coincide with a series of ASL log messages, with a format like:
"25 Apr 2020 at 02:04:05 coreaudiod[209]: BUG in libdispatch: 19E287 - 2914 - 0x4"
When the speaker icon on the bar starts "blinking" (like going on and off), I found stuff like this:
"25 Apr 2020 at 01:57:25 loginwindow[185]: BUG in libdispatch: 19E287 - 2914 - 0x4
25 Apr 2020 at 01:57:32 Skype Helper (Renderer)[30242]: BUG in libdispatch: 19E287 - 2914 - 0x4
25 Apr 2020 at 01:57:32 SystemUIServer[415]: BUG in libdispatch: 19E287 - 2914 - 0x4
25 Apr 2020 at 01:57:32 Google Chrome[402]: BUG in libdispatch: 19E287 - 2914 - 0x4
25 Apr 2020 at 01:57:32 Skype Helper[30246]: BUG in libdispatch: 19E287 - 2914 - 0x4
25 Apr 2020 at 01:57:32 corespeechd[698]: BUG in libdispatch: 19E287 - 2914 - 0x4
25 Apr 2020 at 01:57:32 Skype[30236]: BUG in libdispatch: 19E287 - 2914 - 0x4
25 Apr 2020 at 01:57:44 Quake3-UrT.x86_64[31814]: BUG in libdispatch: 19E287 - 2914 - 0x4
25 Apr 2020 at 01:57:52 NotificationCenter[438]: BUG in libdispatch: 19E287 - 2914 - 0x4
25 Apr 2020 at 01:57:52 mediaremoted[115]: BUG in libdispatch: 19E287 - 2914 - 0x4
25 Apr 2020 at 01:57:52 Google Chrome Helper[806]: BUG in libdispatch: 19E287 - 2914 - 0x4
25 Apr 2020 at 01:58:03 xpcproxy[31823]: libcoreservices: _dirhelper_userdir: 557: bootstrap_look_up returned (ipc/send) invalid destination port
25 Apr 2020 at 01:58:04 iconservicesd[31823]: BUG in libdispatch: 19E287 - 1775 - 0x1
25 Apr 2020 at 01:58:04 login[31824]: USER_PROCESS: 31824 ttys000
25 Apr 2020 at 01:59:03 com.apple.xpc.launchd[1]: Service only ran for 5 seconds. Pushing respawn out by 5 seconds.
25 Apr 2020 at 01:59:32 com.apple.xpc.launchd[1]: Service only ran for 4 seconds. Pushing respawn out by 6 seconds."