First question I have is what apps are you using for playback?
First are they properly configured to deliver either encoded 5.1 or decoded PCM 5.1 or
which ever you desire?
Next, what are your settings in Audio Midi setup?
I was easily able to send 5.1 encoded or decoded audio to my Sony receiver
with either iTunes, KODI, or VLC after some manipulation of Audio Midi
setup for the HDMI interface. And it seems, different Mini models
and the devices they attach to may require some slightly differing settings.
FWIW, the MacMini hardware has the capability of delivering a full
7.1, 24 bit. 192 kHz PCM via HDMI. macOS on the other hand may not be so
generous. Actually, there are a lot of things that the Mini hardware
is capable of, but is limited by macOS.
I have a 2011 MacMini Server that I use as a home entertainment
center and for years was told that it simply cannot deliver the
HD formats (DTS Master Audio and TrueHD). However, since High Sierra
was end of line for it, I decided to install Win10 on it and guess what,
it does allow these HD formats to be passed through to a capable
receiver. It can also deliver decoded 7.1,24 bit, 192kHz PCM. So, the
powers that be at Apple for what ever reason decide to not always
allow full capabilities to be used.