Each of you at first could ask yourself the question of how best to hear the enemy who is at a great distance from you. There are only two things that will do this.
Unfortunately, no console commands in the game will help. Even an increase in volume will not give the desired result. For this, as you've already guessed, quality headphones will come to the rescue, as well as a good sound card. This is the only way to hear the sounds of footsteps will be much easier.