You can use an AudioStreamPlayer node like AudioStreamPlayer2D or AudioStreamPlayer3D.
https://docs.godotengine.org/en/stable/classes/class_audiostreamplayer.html
Or the way I do it is adding a AudioStreamRandomizer resource into a folder (right click > create new > resource and search for AudioStreamRandomizer). Then drag that into your tree. It'll give more options like multiple sound files for your SFX and randomizing the pitch and volume.
And then you call the [node_name].play() function right before your desired action.