Remove ZoomAudioDevice from Audio Devices
It appears the ZoomAudioDevice is now located in /Library/Audio/Plug-Ins/HAL/ and is no longer a kext.

To uninstall it, I deleted it with the below command and restarted.

sudo rm -r /Library/Audio/Plug-Ins/HAL/ZoomAudioDevice.driver


This is with a new install from May 2019. Perhaps old installs continue using the kext if its already installed. Though, the readme here indicates the .driver file is used on MacOS 10.10 and above.