HDR10 is equal to HDR, it's just a shorter term for it. It's possible that the HDR won't work through the Soundbar. HDR requires a HDMI 2.0a bandwidth controller, which may lack in the Soundbar, but in many cases it can be afterwards upgraded to HDR capable by a simple firmware update. So may worth to check that at least.
The other way is to use the ARC from the TV, but it varies hugely, that what TV's could what kind of audio passthrough that way. With a big luck, It may could pass SD 5.1, like DD or DTS, but HD audio is surely out of the question. Needs very cautious diggin' in the TV'S manual regarding.
HLG: as it differs a bit from HDR, I don't know if the HiMedia Pro boxes have current support for it. But my guess would be that they don't.