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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.
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