Yes, you could add two more speakers of your own choosing, assuming they match with the Amps output (most do). Yes, there would be a 75 ms delay between the (software defined) rooms of the Arc Ultra and any other Sonos ‘room’ .
The only way to deal with that delay is to either ‘bond’ the Amp so that it serves as the surround speakers to the Arc Ultra (only one ‘pair’ is allowed) so they’ll be in perfect sync, or delay the Arc Ultra’s output in the controller, altering the lipsync in order to get closer to the extra ‘room’, which would be a stereo signal, not a surround, or any other type of output.
Sonos only provides a 5.2 software solution, you can’t add additional surrounds or Atmos speakers to their system.
This might be helpful: the Sonos terminology thread.