The Julius Smith books are some of the most respected resources in the audio world. Here is a page linking to way more.
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Those changed my life, in a sense. Not my professional life, but outside of work it led me down a deep rabbit hole into mathematics, digital signal processing, and even analogue electronics and some light RF engineering. (This is not relevant to my professional life, since I started to take great care not to make any more of my hobbies my job.)
I spent endless hours thinking about this stuff on my commute, and hunched over Matlab.
The other book I recommend is Richard G. Lyons "Understanding Digital Signal Processing".