I am creating a smart home assistant droid and I am using a few hardware such as an IPR motion detector, 2 neopixel Jewel 7 and two stereo speakers (3W 4 Ohm) connected to a MAX98306 Stereo 3.7W Class D Audio Amplifier. The R4 and the hardware will all be enclosed within the droid with the exception of the cable powering the arduino which will be coming out (and potentially a cable to establish a connection between the raspberry and the arduino).
I have only worked with arduino uno rev3 in the past and I was able to control the neopixels and sensors through the pyfirmata library. However, when it comes to speakers, I was wondering if it is possible to connect those and the amplifier to the arduino and send audio from the raspberry to the arduino to be played on the speakers. I know the R4 has DAC and I really want to avoid having speaker connections coming out of the droid to the raspberry which will be outside the enclosure so any help or suggestions would be appreciated!