Revert "soundd: back to onroad only (#23236)"

This reverts commit 3bdb445c84.

selfdrive/manager/process_config.py

@@ -19,7 +19,7 @@ procs = [
   NativeProcess("sensord", "selfdrive/sensord", ["./sensord"], enabled=not PC, persistent=EON, sigkill=EON),
   NativeProcess("ubloxd", "selfdrive/locationd", ["./ubloxd"], enabled=(not PC or WEBCAM)),
   NativeProcess("ui", "selfdrive/ui", ["./ui"], persistent=True, watchdog_max_dt=(5 if TICI else None)),
-  NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"]),
+  NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"], persistent=True),
   NativeProcess("locationd", "selfdrive/locationd", ["./locationd"]),
   NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], enabled=False),
   PythonProcess("calibrationd", "selfdrive.locationd.calibrationd"),