This one shows a shock through clouds over the launch site, at about 1m40s: <https://redirect.invidious.io/watch?v=p0xY69kUtdU&t=102>.

Shockwaves below the rocket are visible at about 20--30s in this Starship launch: <https://redirect.invidious.io/watch?v=P-9_hPDbhrg&t=18>.

(There are several other Starship launches showing sonic effects, though I suspect those may be related to the sheer noise level rather than velocity-based sonic booms.)

The most interesting one for me (and what I'd been looking for finding the above two clips) was an Atlas V launch which generated visible radiating ripples, like water on a pond around a thrown stone, seen here at about 1m50s: <https://redirect.invidious.io/watch?v=UXlzVvCx3Aw&t=110>

And another APOD sun-related launch shock image which again seems noise- rather than velocity-based, beautiful in its own way, here: <https://apod.nasa.gov/apod/ap240928.html>.