We are using MYIR's MYD-Y6ULX development board. The audio is brought out through I2S.
Hello Aquiel Godeau,
You can see on the i.MX6UL datasheet (link below) that this processor has a SAI module which provides a synchronous audio interface (SAI) that supports full duplex serial interfaces with frame synchronization, such as I2S, AC97, TDM, and codec/DSP interfaces.
https://www.nxp.com/docs/en/data-sheet/IMX6ULCEC.pdf
This means that while it does have audio capabilities you would need to add a codec to which you can connect an audio jack or a speaker (with amplification if desired).
You can see the i.MX6UL EVK for an example of how audio is implemented.
I hope this helps!
Regards,