Forum Discussion
Some Samsung users ran into issues with some firmware versions if their TVs supported "art mode". (different quirks with different devices, including timing out after 30 min and entering a sleep mode).
I didn't really see or know of any models of Samsung TVs offhand that you can set the idle time on their HDMI ports so may just be a CEC issue.
On the Samsung itself (not the Roku device) see if you can disable the CEC (Anynet+) for that HDMI port being used by Roku and see if that makes a difference. https://www.samsung.com/sg/support/tv-audio-video/use-anynetplus-hdmi-cec-on-your-samsung-smart-tv/
Otherwise, as RokuElizer-A suggested, if you have another TV available try the Roku on it and see if the issues follows. (should help determine if TV or Roku issue).