How can I quickly set the sound output device on Big Sur?

Before the update to Big Sur I could ALT+click on the sound icon in the menubar to change output devices (as described in this answer).

Now, on macOS 11.0.1, when I ALT+click on the sound icon I only see the internal speakers, while I have more output devices:

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The Sound window in the System Preferences does show all output devices and lets me select them:

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How can I quickly switch from Internal Speakers to the USB audio devices I have (like in Catalina)?

Not sure what the issue was, but a restart solved the problem: the output devices in the sound menu now match those in System Preferences.

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