A DAQ that reconstructs a perfect square wave (or a perfect stair-step function) is employing a "Zero Order Hold", and it would make a god-awful audio DAC.

https://en.wikipedia.org/wiki/Zero-order_hold

With a 0OH you'd gain the ability to potentially reconstruct a infinite bandwidth signal (the squarewave), which is irrelevant in the audio case: With a 10kHz squarewave, the next harmonic would be at 30kHz which is already waaaay out of the human range of hearing.

But limiting the bandwidth of a DAC (or ADC) is the fundamental property which causes it to be able to perfectly reproduce the frequencies within its bandwidth (~up to 20kHz in HiFi Audio), so that's desirable. And the "ripples" on top of a squarewave are just the manifestation of this property: If you cut away the frequencies above Nyquist, you get a rippled squarewave. And conversely if you compute the difference between the perfect squarewave and the "rippled" squarewave you get out of an Audio DAC this only contains (non-audible) energy outside of the bandwith of the DAC!