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Ok, found a partial workaround from: https://developer.apple.com/library/ios/qa/qa1803/_index.html
Looks like iOS doesn’t let us do Airplay if we’re using the “VoiceChat” OpenEars option. Any of the other 4 options will allow Airplay, but then I lose the ability to play sounds from the app using the AudioServicesCreateSystemSoundID method. Specifically, iOS disables Airplay when using the AudioSession property: AVAudioSessionModeVoiceChat
For now this will work for my demo video. The sound from the app isn’t necessary.
If you happen to know of a combination of settings the .audioMode property that allows for speech recognition + sound playback + Airplay, I’m all ears, so to speak. My guess is that I’d need to change how I’m playing sounds and move away from the AudioServicesCreateSystemSoundID method.