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I did test using the HDMI safe option and when using that it effected the visuals as well. So there is also a small chance complete screen blackouts on some monitors are related as well.
Basically, whether connected to my AV receiver or directly to the TV, I get these audio drop outs over HDMI. Interestingly, I cannot reproduce the problem via the 3.5mm stereo output. Also interesting, I can reproduce the HDMI audio issue when using Moonlight (nVidia Gamestream client).
In my case I have eliminated power, cabling, networking, and SOC throttling as the cause.
I have also opened a support ticket for this issue (Including the forum link) and steam support just got back to me they are capable of reproducing this in there internal testing.
This means the issue will likely be resolved trough an automatic steam link update, they do encourage us to use the steam beta in case changes happen on the steam pc client.
I did follow-up to confirm where they release announcements about SteamLink software betas. The Steam Client beta group seems to only have Steam Client announcements (the full steam application). I did not see any past posts regarding SteamLink or the SteamLink software.
Good point that changes to the Steam Client may affect this issue... I hadn't considered that. Since I observed this problem with both Steam in-home streaming and nVidia Gamestream (moonlight), I was only focused on the client (raspberrypi) side of the equation. The beta group will be useful to watch.
Mar 7th, 8th, and 12th
https://steamcommunity.com/groups/SteamClientBeta#announcements/detail/1798531141148611810
Edit: Just on the off chance a dev reads this, my setup is as follows:
RPi 3B+
Retropie version 4.4
Using wired connection back to Gb switch
HDMI plugged into Onkyo receiver
Tried multiple cables, ports on receiver.
Fresh install of Pi OS
Multiple (official) power adapters
Tried tweaking different settings in config.txt