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I do this on my MacBookPro. I keep my headphones plugged in. I have the system sound go via the Mac speakers. And I have zoom set to use the headphones.

It’s easy to switch between built in speakers, wired headphones and AirPods. All with unplugging anything.

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Yeah, it was easy on my 2008 and 2009 Mac Pros too. And from what I've reading it might be easy on 2020 iMac and maybe 2019 iMac. But from 2017 iMac (which I have) back at least to 2011 MacOS considers the headphone jack and internal speaker to be the same output, with whether or not you have headphones plugged in determining where it sends the sound.

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