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The easiest way to add the widget without editing theme files is with the Insert Headers and Footers plugin.
1

Install the plugin

In your WordPress admin, go to Plugins → Add New, search for Insert Headers and Footers, and click Install Now, then Activate.
2

Add the script

Go to Settings → Insert Headers and Footers. Paste the script into the Scripts in Footer field.
<script
  src="https://app.audyr.com/widget/widget.min.js"
  data-token="YOUR_TOKEN">
</script>
3

Save

Click Save. The widget will now appear on every page of your site.

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Using functions.php

If you prefer to keep the widget inside your theme, add this to your functions.php:
functions.php
function audyr_widget_script() {
    echo '<script src="https://app.audyr.com/widget/widget.min.js" data-token="YOUR_TOKEN"></script>';
}
add_action( 'wp_footer', 'audyr_widget_script' );
Edit functions.php in a child theme. Changes to a parent theme’s files are overwritten whenever the theme updates.

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WooCommerce — specific pages only

To load the widget only on certain WooCommerce pages, use conditional tags in functions.php:
functions.php
function audyr_widget_script() {
    if ( is_checkout() || is_cart() ) {
        echo '<script src="https://app.audyr.com/widget/widget.min.js" data-token="YOUR_TOKEN"></script>';
    }
}
add_action( 'wp_footer', 'audyr_widget_script' );
Swap is_checkout() and is_cart() for any WordPress conditional tag to target the pages you need.