Same here on a XPS 15 9550 running ubuntu 16.10. This issue occurs
randomly at boot for a while now (6 months+).

Sometimes multiple reboot are needed to get the headphone to work. I
tried rebooting alsa or pulse audio and other tricks like alsamixer. But
somehow, I found out that suspend/resume fix it everytime... (Side note,
suspend/resume breaks my wifi so need to restart NetworkManager service,
but that is another issue)

I wonder what the suspend/resume process does to have this fix every
time...

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https://bugs.launchpad.net/bugs/1583801

Title:
  No sound via headphones (headset) when Ubuntu boots with them plugged
  in

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