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I recently bought the Arc Ultra mini sub and two Era 100 speakers. I use the Era 100s as surround speakers, but will their lack of Dolby Atmos support impact the overall surround sound experience?

Perhaps see this guide:

https://www.sonos.com/en-us/blog/the-ultimate-guide-to-a-sonos-home-theater

You will just encounter ‘pseudo’ rear height channels that use Sonos virtualization techniques, rather than having physical rear height channels.