I dont want to have to purchase an ARC but would like to find a way to use these speakers and ideally get 5.1
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Get a Beam or an Arc, then you can use your existing speakers as rears.
are there any latency issues with the audio matching picture?
Not with speakers set up as surrounds. There is a 75ms delay between a home theater room, and any ‘grouped’ room, no matter what Sonos device drives the rooms.
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