The 6s/first gen SE/7 (at least as of iOS 13.2.2 or so, if not earlier versions of iOS 13) actually DO unofficially support audio sharing (there are two methods to share audio and one of them works). Even though they're not on the list for audio sharing, it was noted on Reddit that if you manually pair two pairs of AirPods or other compatible headphones to an iPhone that is officially unsupported, the phone would split the audio just fine with no glitches. However, this is the only method that works. The other method (bringing two supported iPhones together and automatically getting the share audio pop-up) doesn't work on these devices for some reason even though iPad 5/6/7 and iPod touch are supported with this method.
There are a bunch of reports on Reddit about people having the 6S/7/SE and having it work via pairing two pairs of headphones manually. Here's one link to a reddit thread:
Note: Manually pairing more than one pair of Bluetooth headphones and having them both active was never possible in iOS 12, so Apple must have added in support for audio sharing for these devices and simply forgot to explain in their release notes that audio sharing does work in some form.
There are a bunch of reports on Reddit about people having the 6S/7/SE and having it work via pairing two pairs of headphones manually. Here's one link to a reddit thread:
Note: Manually pairing more than one pair of Bluetooth headphones and having them both active was never possible in iOS 12, so Apple must have added in support for audio sharing for these devices and simply forgot to explain in their release notes that audio sharing does work in some form.