I think you talked about the solution - everyone rolls perception, everyone hears that there's orcs hiding, but the players who missed the dc are surprised and don't get to act round 1. An alternative could also be giving them disadvantage on initiative. Personally, I would use their passive perception in that case anyway unless someone specifically said, "as I enter the room I'm looking for an ambush" or something. That said, I feel like Perception in 5e is broken anyway, it's almost a requirement at character creation and I'm considering with my next table just gifting *everyone* perception proficiency and see what happens.
I think you talked about the solution - everyone rolls perception, everyone hears that there's orcs hiding, but the players who missed the dc are surprised and don't get to act round 1. An alternative could also be giving them disadvantage on initiative.
Personally, I would use their passive perception in that case anyway unless someone specifically said, "as I enter the room I'm looking for an ambush" or something.
That said, I feel like Perception in 5e is broken anyway, it's almost a requirement at character creation and I'm considering with my next table just gifting *everyone* perception proficiency and see what happens.
Of course, every group is different and the only wrong answer, imo, is one that isn't fun at your table!