Does Raspberry Pi 5 have audio output on the 40 pin header?

Not analog audio, no. Raspberry Pi 5 does not provide a built-in “line out / headphone” analog audio signal on the 40-pin header (and Pi 5 also doesn’t have the old 3.5 mm TRRS A/V jack). What you can get from the 40-pin header is digital audio: 1) D...