Kernel module snd_sof_pci_intel_tgl prints an error message pointing to non-free firmware

The snd_sof_pci_intel_tgl module tries to load non-free firmware, which expectedly fails and results in the system lacking sound. The error message links to the SOF project binaries :

Check if you have 'sof-firmware' package installed. Optionally it can be manually downloaded from: https://github.com/thesofproject/sof-bin/

Example dmsg output:
https://trisquel.info/en/forum/aucun-son#comment-179113
https://trisquel.info/en/forum/aucun-son#comment-179118

The problem does not appear when the snd_hda_intel module is loaded instead:
https://trisquel.info/en/forum/aucun-son#comment-179123

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