You can group them together in the Sonos app to play the same audio at the same time.

Yes, but I don’t recommend attempting to simultaneously play with the TV audio. You’ll have an annoying delay with the PLAY:5. To some extent you can compensate for this delay by adjusting BEAM’s lip sync, but this will compromise the lip sync. For some people this is tolerable, but not everyone can accept this.

With respect to music listening, simply Group the two rooms and they will be time aligned.

They will not install in the same Sonos “room”. The Beam will need it’s own room. As stated above you could group both rooms, with disadvantages effects to sync.