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... contains no other copyrighted code which you now have access to when you didn’t before, the question is not so simple as it might first appear.
If you replace the whole firmware, then there is no copyrighted code (other than the bootrom, but Sonos didn't write that) left. At most there may be crypto keys in the hardware used for streaming stuff, but you can ignore them.
Just because something exists somewhere doesn't mean it's magically a DMCA violation to do something nearby. You have to actually bypass an effective technical protection measure that gives you access to copyrighted content.
I have no idea what the architecture of these devices is like so I am willing to take your word for it. If what you are saying is true, then yes, it seems likely an original firmware build would avoid the AC prohibitions, and my initial opinion was in error.
I have no idea either, but practically every device of this sort is just a chain of one or more loaders and the final image. Once you take control at any step of the process, you can replace all running code with your own and not use anything else that may incidentally be there.
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