Apple TV 4K and AirPods audio sync issues

Hi - I’ve been having this issue from day 1. When I play a show or a movie through my Apple TV (4K bought in Nov 2021), there is an audio delay when the lips move on the screen and when I get the audio through my AirPods (3rd gen). The issue does not exist if I connect my AirPods directly to my TV. I use Apple TV +, Netflix, Prime etc.

My Apple TV, AirPods and TV all have the latest software and firmware versions. Additionally, I have tried various settings plus reset all devices to see if anything helps. But no success as of now.

Anyone else having this issue and any solution(s)??