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I think there is a change in the software now. (I do not know when the option started to be available)
If you say "Hey Siri, turn off automatic Siri volume." And then ask for the volume adjustment at a percentage, it appears to remain. (At least for me and it is more then 24 hours)
Yep. Just found this today. After I kept asking Siri to set volume louder, she actually asked me if I wanted to turn off automatic voice volume and have Siri volume match the media volume.
 
I think there is a change in the software now. (I do not know when the option started to be available)
If you say "Hey Siri, turn off automatic Siri volume." And then ask for the volume adjustment at a percentage, it appears to remain. (At least for me and it is more then 24 hours)

Change Siri's volume on your HomePod​

You can ask Siri to speak louder, quieter, or at a specific volume. Say "Hey Siri," then say something like:
  • "Speak louder."
  • "Always speak quieter."
  • "Set your volume to sixty percent."
HomePod automatically adjusts Siri's response volume based on the level of noise in the room, your distance from HomePod, and how loudly you're speaking to Siri. You can turn automatic volume on or off by saying, "Hey Siri, turn on automatic Siri volume," or "Hey Siri, turn off automatic Siri volume."
 
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Change Siri's volume on your HomePod​

You can ask Siri to speak louder, quieter, or at a specific volume. Say "Hey Siri," then say something like:
  • "Speak louder."
  • "Always speak quieter."
  • "Set your volume to sixty percent."
HomePod automatically adjusts Siri's response volume based on the level of noise in the room, your distance from HomePod, and how loudly you're speaking to Siri. You can turn automatic volume on or off by saying, "Hey Siri, turn on automatic Siri volume," or "Hey Siri, turn off automatic Siri volume."
I knew you could ask Siri to speak lower....I didn't know about automatic volume. That's a great find.
 
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Siri still won’t keep her set voice volume on a HomePod mini two years after release. What a POS! None of the workarounds work. Tell her to set her volume to x% and she says okay, but the next time she talks it is back to a default level. Apple sucks. Their FW and OSes are riddled with bugs and features that are poorly designed.
 
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