This is usually because network is started with delay in background on Raspbian by default. You can “dpkg --purge dhcpcd” and use /etc/network/interfaces (see “man interfaces”) instead to get network started synchronously at boot time.
If network is not available while starting networkaudiod, it will eventually fail to start.
This is the case with all systems relying on systemd instead of init (Debian since Jessie). There’s a systemd service file for networkaudiod. You can control networkaudiod service using “systemctl”. For example “systemctl start networkaudiod” will start the service.