On Linux with Jack or Pipewire backends you can route up to 16 channels coming from SupperCollider. In the Sonic Pi script use the sound_out or sound_out_stereo fx, I would think this is the same on Raspberry Pi if you install Jack and QJackCtl?:
with_fx :sound_out_stereo, output: 3 do
...
end
with_fx :sound_out_stereo, output: 5 do
...
end
with_fx :sound_out_stereo, output: 7 do
...
end
On my system routing looks like this:
Where output 1 and 2 are the default, with_fx :sound_out_stereo, output: 3
sends the output to 3 and 4 and so on.
So it will still be mono going to one channel or stereo going to 2 channels, no true surround sound.