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No, Samsung's remote will not control any soundbar (even their own). See: https://support-us.samsung.com/cyber/popup/iframe/pop_troubleshooting_fr.jsp?idx=168786&modelname=SP-R4232 "You can program your Samsung television universal remote control to operate cable boxes, set-top-boxes, DVD players, and VCRs from most manufacturers. You cannot program your Samsung television remote to operate any other kind of device including DirecTV boxes, satellite boxes, any home theater system (including those made by Samsung), or any other manufacturer's television."
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