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I have an Apple TV. I want to purchase a Sonos speaker and debating between the Five and Arc. Can I connect my Apple TV to the Five via Airplay to output audio?

You should be able to, but I’d be concerned about a possible delay in processing on both ends causing lip sync delay. I have a slight delay when I AirPlay 2 to my PLAY:5 gen 2s. It’s why I chose to connect a PLAYBAR to my TV, and use the PLAY:5 for just music, since they weren’t designed as a TV speaker.