While searching why Google Recaptcha audio doesn't work on my Firefox:
I found that Google is trying to recognize if my browser is really a Firefox browser by applying a technique called canvas fingerprinting. The reason why the Google Recaptcha audio challenge didn't work for me is I'm using an extension that change my user agent every 10 minutes (Random User-Agent).
I stopped using this extension and switched to Trace. You may enable some features in the extension's settings (personally I enabled everything to be as untraceable as possible). Then I went to the whitelist tab of the extension's settings, after that I whitelisted https://www.google.com/recaptcha/*
& https://www.gstatic.com/recaptcha/*
and finally I disabled Canvas fingerpriting protection
and User-Agent randomiser
in the Applied to all pages
column: