I was able to set up my Foxsat HDR remote to give me basic control of my Denon AV amp (albeit with some odd key assignments) on its Audio mode key so it should be doable.
That said I use a Harmony 555 as my main remote control with the Foxsat remote on hand to tweak TV and AV amp settings which is quicker than (less keys presses) than switching Device mode on the 555 a lot of the time.