No. Not if you are using the Fives just for music.
If you listen to music more than you watch TV, then leave the Sub with the Fives.
If you watch more TV than you listen to music, You can add the Fives as surrounds to the Beam along with the Sub. In the settings for the room, go into the settings for the surrounds and set the music audio from ambient to full. This would make the Fives sound more full when playing music, and automatically switch to ambient when watching TV. When setup as surrounds, be aware that the line in is disabled, so if you use a turntable with the Fives, I recommend you leave them as their own “room”
Its a PITA to swap the Sub between “rooms”, but you can also do that if you dont mind the inconvenience of unpairing from the Fives, pairing with the Beam and doing Trueplay. Then to pair with the Fives, do the same process again.
Intermediate answer is also: no.
Do you want more info than that, @MKwheeler?