I've heard this mentioned by at least two users but I've never noticed it. I have a Roku 3 attached to an Onkyo upper-midline AVR.
Yep. No problem with 4 different Roku devices (Ultra, 2017 Premier+, Streaming Stick+, Streaming Stick) here, with 4 different audio setups (AVR, Sony Sound Bar, Samsung Sound Bar, Built-in TV speakers).