How to connect Apple TV 4k to a sound bar and control volume from Apple TV instead of TV
How to connect Apple TV 4k to a sound bar and control volume from Apple TV Remote instead of soundbar Remote
iPhone 6s Plus, iOS 10
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The Apple TV Remote should work for volume control for many devices out-of-the-box. However, some devices may not work with its pre-programmed settings. If the soundbar has an IR receptor for a remote, then the Apple TV Remote can learn that device for volume control.
Control your TV or receiver with your Siri Remote or Apple TV Remote - Apple Support
Settings﹥Remotes and Devices﹥Volume Control﹥Learn New Device.