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In the terminal, type xed admin:/etc/pulse/daemon.conf (this assumes Mint 19.x. For Mint ⇐ 18.3 use gksudo xed /etc/pulse/daemon.conf.)
Find the section that looks like this:
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; default-sample-format = s16le
; default-sample-rate = 44100
and change it to this:
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default-sample-format = s24le
default-sample-rate = 48000
(or default-sample-rate = 96000 or default-sample-rate = 192000 depending on what your system can support.)
Then save the file and in the terminal type pulseaudio -k.
Done.
EDIT: I should add, after making the change, you can see what pulseaudio is using with pacmd list-sinks | grep “sample spec” It'll show one result for each audio device.