This Audio Switcher feature is hidden in the Feature flags section. To enable it, first, go to the Settings, scroll down to the bottom and tab the About option. Again scroll to the bottom and tap the Build number seven times to enable the Developer options.

Once enabled, go back to the main Settings and select the System menu. Click the advance option there to expand the list. Tap the Developer options from the list and scroll down gradually looking for Feature flags option. This option is listed under the Debugging section.
In the Feature flags, locate and enable the audio switcher and seamless transfer flags.
Now, whenever you play something, the media notification will have an audio stream icon next to the other media controls. Tapping this option lists all the available audio output options where you can easily switch between them.
This is how you can enable and use the seamless audio output switching in Android Q.

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