I'd read reports that Q-Symphony (audio from the TV speakers and soundbar simultaneously) wouldn't work, but it does.
I stuck an OSMC (https://osmc.tv/) box to the back of both of them so they can play stuff from my NAS. They're not the cheapest solution and I realise Kodi/XBMC on which they're based isn't everyone's jam (I grew up with XBMC on an Xbox so it is very much mine) - but they play everything, have wifi, HDMI-CEC, integrated RF remote, and work out of the box.
Model numbers if anyone cares: Samsung QE65S95C, Samsung QE77S95F. I believe S95, S90 and S85 (at least up to F) are all very similar so they should all work but ofc ymmv.
I wouldn't recommend Kodi for streaming, it kinda works but the experience isn't great. I use it exclusively for playing stuff from my server full of legally acquired public domain videos (ahem).
I do watch YouTube videos on it, but I use TubeArchivist (basically a fancy wrapper for yt-dlp) to pull them onto the server first, and a script to organise them into nicely-named directories.