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Sonos bridge was discontinued and a message informs any audio system can connect directly to router. Is that true? How to do it?
That's not quite a correct interpretation. Any Sonos can work directly off of your local wifi signal, but in order to set it up that way, you do have to temporarily connect it to your router with an ethernet cable, in order to tell the computer in it what SSID and password it needs to be looking for.
You can also move your Ethernet connection from the Bridge, unplug power to the Bridge and hook the Ethernet to any Sonos speaker and you'll continue in Boost mode on Sonosnet and not your home WiFi.