Audio momentary drop out when using the TIVO remote

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When I use the TIVO remote for almost anything, the audio drops out for a few seconds before cutting back on.
This happens on almost every function on the remote. If I change channels, view the guide, and page up and down. The only time it doesn't cut the audio is using the directional arrows to move around the guide one line at a time. This happens on both the soundbar and the TV speakers. Anybody else with TIVO Roamio experiencing this problem?

Troubleshooting steps have involved a reset on the TIVO, switch back and forth between PCM an Dolby, replacing the HDMI cable, using a different HDMI input on the TV, using a different TIVO remote.