You would need to add a Sonos Soundbar or Amp …and connect either to the TV and play the audio to the soundbar and group it with your Sonos speakers. Note there would be a slight delay to the grouped speakers due to buffering, but you may not notice this is your grouped speakers are located in different physical rooms.
Some Sonos speaker ‘pairs’ can be ‘bonded’ (rather than ‘grouped’) to Sonos soundbars and Amp for HT surround audio, and they will not be limited by the buffer delay and can be used in sync in the same physical room, but note these things may depend on the type of A/V source being played - ideally you would want 5.0/1 surround sound from the TV/Roku rather than PCM stereo audio.
Hope that assists.
