Per my filk sources:

There appear to have been multiple recordings made, some more formally than others:

One source mentions an album ascribed to Wald himself (Among Friends), wherein "Heroine Barbarian" appears as performed by a group called On the Mark. Another mentions a recording, possibly of a convention or house song circle, included among material uploaded to the Zooniverse research site for identification. (A brief glance at Zooniverse doesn't find a matching project, but that's not necessarily surprising given the relative time frame.)

I'll continue to keep an eye out for further prospects.