Thanks,
Here's what seems to work pretty well.
GR-55 into Midi In 2 (KBD) on Audya
In the Midi setting, set Right channel to 1 all others off.
You will also need to make sure all are off under Arranger Chords and Voice/Drawbar.

Under STYLE/MODE set PIANIST/BASSIST = Easy. CHORD MODE = Easy 2

Use PIANIST mode to play the chords and individual notes.
I'm also playing around with assigning a button on the footswitch to turn PIANIST on/off so the chords don't get recognized and switched when I don't want it to.

Also on the GR 55 I did a factory reset (saved everything first). Then set the MIDI channel to 1 and Mode to Poly. Chromatic OFF.

This seems to work fairly well.