Using Playbar with Five

I currently have a Sonos Playbar set up on a living room TV. No surround speakers. The living room and kitchen are open and connected (one large rectangle) and I’d like to set up a Five at the far end of the area in the kitchen. The principal reason is for music: we’d like to be hit from both directions when sitting at our kitchen counter. But I’m wondering, can the Playbar and Five be grouped such that there will be no sound delay when watching TV? Thank you in advance!