For everyone still having this issue. I also had this and I tried everything ( as stated here https://www.bungie.net/en/Forums/Post/260392869?sort=0&page=0 )
The solution is to make sure all cross-play accounts have the audio settings chat to On(Default).
I believe it is only the PSN account, as that would be for most of us, the main account.
Try logging in on PS and reset the in game Audio Settings.
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https://www.drivereasy.com/knowledge/solved-destiny-2-voice-chat-not-working/ I tried step 6 on this website and I was able to hear! Changed my sound settings to my headset. My bf plays on PS5 and he could hear me and nowwwww I can hear him too :) happy playing gamers!