TAD5242: Output series resistors in pseudo differential output mode

Part Number: TAD5242

I plan to use this chip in an audio player application, using the pseudo differential output mode as shown in the schematic excerpt below:

image.png

Am I correct in understanding the that "R" shown is the resistance of the driven headphones (typically 16-32 Ohms), and not an additional external resistor added be me?

And would adding a small series resistors to the outputs help reduce pops on TRS plug insertion? Or should I use a jack with a sense pin and mute in software around insertion/removal events?