One of the major challenges of user experience (UX) design in autonomous driving (AD) is to investigate the emerging expectations and needs of future passengers. Working with foresight into future interactions requires interdisciplinary collaboration that enables new modes of working. In our everyday work and throughout the sound interaction design process, we are often challenged by the lack of exploratory methodologies for involving human insights early on in the sound interaction design process. This chapter draws on the interviews with experts in sound design and UX domains, the research project, Sound Interaction for Intelligent Cars (SIIC), as well as daily product development work at the Volvo Car Corporation (VCC) to address this gap. We characterise what we call the classic approach to sound interaction design and outline methodologies used at different stages of the design thinking process for generating and translating UX insights into sonic interaction solutions. By this, we broaden the way of practicing participatory sound UX for AD development and respond to the challenge by incorporating existing exploratory design research methodologies, such as sensory ethnography, soundwalk, co-creation, ideation, and rapid prototyping. © 2022, Springer Nature Switzerland AG.