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When I use the Optical/HDMI adapter and connect my Sonos Beam to my Panasonic TX55EZ952 through the Optical Port the audio is fine, but when I connect through HDMI I get no audio but the voice commands to power the TV on and off work, any ideas on why this is happening??
Have you read through this thread?

Enabling CEC.
I’ve read through the thread, but can’t seem to find solution to the problem, the TV commands DO work while the audio does not, any ideas on what might be wrong?
Not offhand, although as a guess it's a handshake issue with the ARC/CEC. But perhaps you might submit a system diagnostic within 10 minutes of replicating this issue, and contact Sonos to discuss it. There may be information included in the diagnostic that will help Sonos pinpoint the issue and help you find a solution.