If you are talking an ATM, the ones I use have a place to plug in headphones.
You can also go to a store and pay with it at the register and ask for cash back and no fee with that. If you use a different bank ATM than yours, both banks generally charge a fee.

That’s a problem that needs to be solved by At POs machines are not accessible. Self checkouts and stuff at the cashiers. I wish they were more accessible. At the moment I am having people help me but ben very loud about this stuff nees to be accessible.

For payment terminals I ask the staff in the shop; here contactless is generally fine but PIN is needed randomly for security.

Cash machines I know the key press sequence on a few local ones.

5 should be marked on the keypad with a bump in both cases

Here in Canada, Moneris debit machines have accessibility features that you can access by pressing the 5 key, but as I haven’t tried it myself, I’m not sure how it works after that. Not every debit machine will do this, but Moneris is the biggest manufacturer of debit machines here, so it should work on a lot of them.

Otherwise, I have someone read the screen prompts to me if I can’t read them. The worst is when the keypad is a touchscreen, or covered in plastic (some kind of COVID measure apparently), and I can’t press the buttons by feel. Luckily, I’ve been able to muddle through with the sight I do have, but it’s very frustrating.

You've not said what country you're in. Access to cash varies widely across the world.
As u/BaBaBroke said, machines with headphone access are common, here in the UK especially 3.5mm audio jacks are the norm.
It's also acceptable to ask for cashback when buying in-store, many offer that for free, or to get assistance using a machine that's part of another place rather than an actual "hole in the wall".

Personally, I've carried an emergency bank note in my wallet for 6 months and never needed to use it.