In the 1980s and 1990s, some people used the Hi-Fi tracks on VHS and BetaMax VCRs to record audio. Playing these on a well-adjusted VCR will recover the audio.
This was a stopgap measure while affordable digital audio was being developed and sounded far better than audio cassettes recorded on similar-priced machines.
We have both VHS and Beta HiFi machines, as do some of the other restorers listed elsewhere.
To transfer audio+video, please see the video tape section here.