Is it the UN55MU6071FXZA which Samsung takes me to:

I found no analog output but optical "Digital Audio Out (Optical) 1 ".

So you either want a kit with the usual optical to headphone box or just that converter. There are so many now on Amazon I don't point to any today.

I often find folk leave out details about wanting to leave the TV speakers on but that answer has been no for years to that. If you want both you do the conversion and then send audio to both a soundbar and the headphones with a Y cable. And again no. The TV remote no longer controls the volume.