Audio delay from HomePods connected to Apple TV 4K

I have Apple 4K TV on iOS 14.5 connected to two HomePods on iOS 14.3 (all on the latest iOS). I also have a netgear orbs mesh wifi (one receiver and one satellite). Audio is all set to AUTO.

When playing movies I am seeing a delay in the audio, lip-sync issues. Can anyone assist in resolving this?

Previously I had 2 Sonos ones and speakers for the Apple TV and never had this issue.