Hi @hasnainshah
Welcome to the Sonos Community!
Thanks for your question!
The best thing you can do to improve things for your Beam Gen 2 is add surround speakers and Subs to it. Sticking with the Beam Gen 2, the ultimate solution would be to have 2 Subs in Dual Sub configuration, and to have two Era 300s as surrounds.
If you are mostly enquiring about TV settings and the like, however, then setting the TV’s audio output format to Auto usually suffices, but Passthrough may give better results - it depends on the TV.
Generally speaking, the TV will select the best option for the sound device connected to it, as it does know it’s capabilities. I'd certainly recommend a TV with eARC over one with only HDMI-ARC.
I hope this helps.