Does your TV have ARC out and your Yamaha ARC in? If so that will give you what you are looking for.
I've always used an optical cable (TOSlink) to achieve this. It's an extra cable but they're not expensive. Most current/recent TV's offer this as an output and most receivers have several as inputs. Just another option to consider...
Yes, all our TVs have ARC. Thanks for all of the replies. I really appreciate it.
This is a great forum.
Then all you have to do to get the TV sound to your Yamaha is to plug HDMI from whichever port is the ARC port on both the TV and the AVR. Set your Yamaha input to TV Sound or whatever it might be called on the Yamaha it is TV Audio on my Denon. You should now have sound, including 5.1, directly from the TV.