I've come to regard Congressional hearings as largely political theater, since Congress feels free to make up the rules as it goes along. Certainly a criminal defendant is allowed to make public statements to the media without waiving Fifth Amendment rights; the main case where statements without waiver may be restricted is before the jury (since jurors are not expected to be able to forget such statements).
Personally, I think one of the most important things that should be done to curb Fifth Amendment abuse by public officials is to make clear that federal employees' duties includes testifying regarding their actions on the job; while the Fifth Amendment applies to federal employees as it does to anyone else, refusal to testify about what one was doing on one's job should be regarded as a refusal to do one's job (i.e. a basis for immediate dismissal).
Interestingly, you have just cited a condition of employment by the IRS. The IRS code states that any employee who invokes the 5th Amendment in a legal procedure shall lose their employment forthwith.
You could look it up.
However, this administration seems to take such points of law as "advisory", if not "obsolete".