Should the AUXL/R pins be grounded if they aren't used?
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Please connect the AUXL/R pins through a capacitor to ground with a typical value of 100nF.
If you want to save on BOM then this can be floating (No Connection).
If necessary, please check the schematic check document for all other pins - http://focus.ti.com/lit/an/swca073a/swca073a.pdf
Regards,
Gandhar.