can i setup 5.1 surround Sonos playbar,sub and connect amp with other 2 speakers ?
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Yes, this is possible. See the steps here:
https://sonos.custhelp.com/app/answers/detail/a_id/2248/~/setting-up-connect%3Aamp-as-surround-rears
https://sonos.custhelp.com/app/answers/detail/a_id/2248/~/setting-up-connect%3Aamp-as-surround-rears
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