HomePod audio not in Sync with Apple Music playing on A/V receiver

HomePod speakers X 2 do NOT stay in audio sync with Apple Music playing through A/V receiver. The HomePod speaker will start to "miss a beat" and then become completely out of sync with the music that is playing through the A/V receiver. I am using 3rd generation Apple TV 4K as the music source connected via HDMI to A/V receiver. This problem happens with Apple TV OS 18.4.1. Normally I have to use pause on Apple TV remote and wait 3 minutes then start music again. Music would then play normally for around 6-8 songs and then the problem would happen again.

It appears this problem has be RESOLVED using Apple TV OS 18.5. Update Apple TV OS to 18.5. Go to Apple TV settings/audio Video/calibration menu. Choose audio wireless sync and use RESET and the calibrate function again. There is NOW a (2) step calibration process with sound output instead of the single process on Apple TV OS 18.4.1.