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I have a Sonia Beam connected to a Samsung TV through the HDMI ARC port.

When the beam starts, or when it has been muted for a period, the sound is distorted and crackles for the first few minutes. After a while it returns to normal so it almost seems like it needs to ‘warm up’. 

Is this normal behaviour?

No, it isn’t, but I have to wonder, since other Sonos devices don’t exhibit this behaviour, if it’s an issue with your TV set and the CEC/ARC circuits. Have you checked with Sonos support, after submitting a diagnostic within 10 minutes of turning on your TV?