Hi. I can't find a menu setting in the owner's manual for the TV, either.
Just to double check, you have the HDMI cable plugged into either the HDMI 1 or HDMI 2 input on the back of the TV, and you have the audio plugged into the two RCA inputs directly underneath the HDMI 2 input?
Have you tried both HDMI inputs (1 and 2)? According to the manual, it shouldn't matter - but maybe the HDMI 2 jack is associated with those analog audio inputs.