Yes, but... no.
Jungle Explorer (are we exploring the same kind of places?...), when I saw your question, I was interested as one of my first videos has dramatic audio levels and I would like to replace the whole track with a new one.
But, actually, all you can do is replace part of the audio track in a video, with music from the free YouTube Audio Library. This is all the interface allows you to do; they feel they have to offer this so that you can replace copyrighted music by copyright free music, to save you from copyright infringement claims without having to just remove the video from YouTube.
The interface is in the "old" Creator Studio Classic: in the Video Manager, you select that you want to edit Audio, and then you select "Add or Replace audio".
In the new "Beta" YouTube Creator, there is a video editing tool (that I just discovered looking for this stuff); you can click on the audio track and find a "Add audio" button, but it will just open the "Add or Replace audio" page from Creator Studio Classic...
So, unless they do something better in the future, right now "changing the audio track" is not much more than a click-bait wording.