Apple TV w/ Stero HomePods Audio Out of Snyc

Hello! I have the latest Apple TV set up using two HomePods in stereo mode. They are all on the same wifi network in the same room on HomeKit. All of the software is up to date. I have tried resetting all devices to factory settings, including the TV, Router, and Modem. The HomePods are correctly set to use audio return as the default speakers. I have calibrated the system using Wireless Audio sync.

Despite all of this, the audio is out of sync with the image. This is true for all applications in Apple TV - as well as over-the-air antenna TV.

Please - is there anything else I can try? This system was very expensive and it's not satisfactory. Thank you.