Playing audio from raspberry on speakers connected to an R4 WIFI?

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!

The Arduno Uno R3 that you mentioned does not have the memory or speed to play audio. It could control an MP3 player module and, for example, play selected prerecorded audio files.

Why did you post on the Uno R4 forum section? That uses a completely different and much faster processor.

Hi, sorry for the confusion but what I meant is that I have only worked with an Arduino Uno Rev3 in the past for things other than sound. What I am asking now is whether I can use an Arduino R4 WIFI to transmit and play audio generated from the raspberry. This is why I am posting in the relevant R4 forum.

Hope this helps.

The R4 has one DAC, so one channel of audio.