Instead of restarting Ubuntu you can restart PulseAudio from terminal:

  pulseaudio -k (wait a few seconds)
  pulseaudio

Disappearing PulseAudio output devices can happen when using Firejail.

https://firejail.wordpress.com/support/known-problems/#pulseaudio

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https://bugs.launchpad.net/bugs/1594570

Title:
  System Settings | Sound empty device list and no sound in video
  player, after reboot it works fine

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