I have a similar setup and my dealer came out and did something. Now on the Beo5 I press Beosound 5 and I get the Menu appear on the TV. I can then use the remote again to go to NMUSIC or NRADIO but I still have to go to the actual unit to control station changing etc. in any meaningful manner.
It can be configured it just took me and my dealer a few goes to get it right.