I have this issue as well on a 2019 mbp. This is due to coreaudio which does not launch properly. It prevents the icons from showing in the menubar. audio, bluetooth, date&time do not show up. Trying to open the sound preferences or siri preference fails. Same if I try to launch Apple midi setup.
I have to kill the coreaudiod process... but I am sometimes lucky or unlucky. Sometimes the icons will appear and then everything works fine. Have not found what is causing this issue. I hope that Apple fixes it in a future beta.
Fred Sigal
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Same issue on a MacBookPro after upgrading to Big Sur beta 6. No solution found