From my experience with the 950, I'm afraid that this is not an option.

My solution when using the 950's remote was to create a macro (I think I used "M3" for it) that allowed me to switch to stereo bypass mode while controlling any device - without having to go to the "AUD" mode on the remote and then back to the device in question. Since I upgraded to an MX500 remote, I put a button for "bypass" on the screen for the CD mode that I hit when I want to listen to CD's.