If, and ONLY if, you are using a Raspberry Pi with the latest Raspberry Pi OS (released on 2020-12-02) you might like to try this experimental solution to enable Sonic Pi 3.2.2 to utilise the new pulseaudio environment used in that version of the OS. Please read the READMEFIRST.md file for details of how to install the one file that needs to be changed, and remember to install the pulseaudio-module-jack package using
sudo apt install pulseaudio-module-jack
I would appreciate feedback on how this works out for you. I have tested the change fairly throughly and it seems to work.
If you are using a different OS please supply more details of your setup.