Audacity's Play-at-Speed Toolbar enables one to change the playback speed, but is there a way of changing the playback speed without the pitch changing?
Changing VLC's playback speed has no effect on its pitch.
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Audacity is rather simplistic in approach. It doesn't seem to have the subtlety required to do this in real-time.
It has an option - Effect > Change Tempo…
See the manual pages at - Change Tempo