Sonos makes a fantastic 5.1 setup which, in my case, is actually 5.0: a Sonos Beam and two Sonos Ones for the surrounds.
I just wish the surround Music Playback mode is easier to change.
Sometimes, I listen to music while sitting on the sofa with the surrounds behind me. In this case, I set Music Playback to "Ambient" mode so the Beam plays the loudest and the Ones, about 2 feet from my ears, aren't overwhelming. When I'm not sitting on the sofa, I set Music Playback to "Full" mode so it plays delightfully throughout my suite.
Here's how you currently change this setting, which I do about 3-5 times a day.
1. Open Sonos app
2. Press Settings
3. Press Room Settings
4. Open your Room (Sonos +LS+RS in my case)
5. Scroll down to Advanced Audio
6. Press Surround Settings
7. Press Music Playback
8. Set the Music Playback mode
That's eight steps just to change the mode. I'm not here to prescribe a specific solution, although I'll happily suggest ideas, but I wish Sonos made this easier.
Note: if you're an owner of the Sonos Beam and Ones in a 5.1 configuration, and you don't like how Sonos disables Alexa on the Ones when used as surrounds, add your comments to these threads. It's another big area where I think Sonos could improve the surround functionality.