Apple Music streams out of synch with Homepods

We have two homepods in stero with an apple tv and several homepod minis throughout the house. When doing chores I like to play music throughout the house - which is the primary reason why we have so many smart speakers. Here has been my experience.

1. I can play Spotify for hours without issue.
2. I can play Youtube for hours without issue..
3. Apple Music will go out of sync. Specifically, the stero homepods on the appleTV, which provide a critical amount of sound, will go out of synch with the rest of all the other homepods in the house, which tend to stay in synch with eachother.

I feel like I'm going insane. I'm actually considering cancelling Apple Music because it's the only service that doesn't work with the homepod eco system. Does anyone have any idea how I might solve this? I've had the problem for a couple years and kept hoping OS updates would resolve the issue.