I had the same problem after upgrade to 20.04
Setting / Sound / Output / Test produced no sound. 

Pressing the test button resulted in an error in syslog:

gnome-control-c: Failed to play sound: No such driver

libcanberra-pulse was missing:
apt search libcanberra

libcanberra-pulse/focal 0.30-7ubuntu1 amd64
  PulseAudio backend for libcanberra

Installed via sudo apt install libcanberra-pulse

Problem resolved.

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https://bugs.launchpad.net/bugs/1879989

Title:
  "Failed to play sound: No such driver"  ubuntu 20.04

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