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Panasonic TC40A429U TV - HDMI no Audio

I have a Panasonic TC40A429U LCD flat screen TV that after a period time being on, using an Amazon FireTV 4K, I get an on screen message "HDMI no Audio", and no sound from the TV.
However, if I change the input to Antenna, I have audio from the TV.
Any ideas as to what is going on?