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I have a TCL TV with roku built in and I used it with my Sonos beam with two One SL speakers as a 5.0 set-up. I connect the TV to beam through HDMI-ARC. I realize I can only receive surrounding TV audio when the output is dolby digital (e.g., the Dolby roku app), but not dolby digital plus (e.g., all other apps including netflix, hulu, disneyplus, etc.). How should I correctly set up my speakers or TV?

Yes, Sonos Beam supports Dolby Digital 5.1, Dolby Digital 2.0, and PCM stereo.