Seems one solution is to add
dtparam=audio=on to /boot/config.txt. After doing that, as long as your user is in the audio group, it works as expected:
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# pacman -S alsa-utils mpg123
...
% mpg123 02-The_Need_to_Dance.mp3
High Performance MPEG 1.0/2.0/2.5 Audio Player for Layers 1, 2 and 3
version 1.26.3; written and copyright by Michael Hipp and others
free software (LGPL) without any warranty but with best wishes
Terminal control enabled, press 'h' for listing of keys and functions.
Playing MPEG stream 1 of 1: 02-The_Need_to_Dance.mp3 ...
MPEG 1.0 L III cbr128 44100 j-s
Title: The Need to Dance Artist: The Jerky Boys
Comment: Album: The Jerky Boys 4
Year: 1997 Genre: Unknown
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% id
uid=1004(facade) gid=985(users) groups=985(users),995(audio)
This is under my kernel/aarch64 (5.10.y) or the current repo kernel (5.4.83).
And it only works without the kms driver. With the kms driver it does not work.
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% cat /boot/config.txt
# dtoverlay=vc4-kms-v3d
dtparam=audio=on
hdmi_force_hotplug=1
over_voltage=6
arm_freq=2000
Yet booting with it:
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% mpg123 02-The_Need_to_Dance.mp3
High Performance MPEG 1.0/2.0/2.5 Audio Player for Layers 1, 2 and 3
version 1.26.3; written and copyright by Michael Hipp and others
free software (LGPL) without any warranty but with best wishes
[src/libout123/module.c:133] error: Failed to open module sdl.
[src/libout123/module.c:133] error: Failed to open module jack.
[src/libout123/module.c:133] error: Failed to open module pulse.
[src/libout123/libout123.c:468] error: Found no driver out of [alsa,oss,sdl,jack,pulse] working with device <default>.
main: [src/mpg123.c:323] error: out123 error 3: failure loading driver module