I found a working process:
1) You must not have compound clips: They will not retain audio when exported via "Individual Clips" option on the Deliver page. So, for things like GoPros that generate a series of files for long shoots, stream concatenate them with ffmpeg first:
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chmod -x G*.MP4
ls -1tr G*.MP4 | sed -e "s/\(.*\)/file '\1'/" > concat.txt
cat concat.txt # make sure order is right
ffmpeg -f concat -i concat.txt -c copy angle-concat.mp4
This will create a single video file source, without re-encoding.
2) In Resolve, align your clips on a timeline, one clip per video track. You can align them in a multi-cam clip, but then you need to open up the multi-cam clip in a timeline so that you can see it as multiple tracks, select all, copy, and then paste that back into the timeline so that you now have multiple tracks in the timeline.
3) Trim the content to a series of clips. You can easily do this by setting the in point at the end of one set, the out point one frame before the start of the next, and hitting the delete key. You end up with something like:
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V4: [set 1] [set 2] [set 3]
V3: [set 1] [set 2] [set 3]
V2: [set 1] [set 2] [set 3]
V1: [set 1] [set 2] [set 3]
4) On the Deliver Page, the "Individual Clips" option will now export each clip, on each video track, independently, with the original audio.
Done!