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You will need to run a cable from the Audio Out port of the TV to the Yamaha, to hear the audio for what you are watching at all times.
The TV will need to have an Audio Out or Digital Out, or similar port on it to do this.
Most TVs will have an Audio Output port on them.
If you let me know the model number of your TV I can check if it has one.
There is no model number in your first email.
Can you check the model number on the rear of the TV?
That isn't a valid Panasonic TV model number. Perhaps it is TX-40GX800B?
The TX-40GX800B has an Optical Audio Out port on the rear, so you will need to connect this port to the Yamaha, so that you can hear the audio for what you are watching at all times.