Hello Kent,
Apple Support Communities is a great place for help with audio issues.. It sounds as though your Apple TV is connected to the Onkyo receiver, but having issues with the audio not syncing with the video. To isolate the issue do you notice if this happens when the Apple TV is connected directly to the TV not the receiver? Also, have you verified that you're using an HDMI cable that supports 4K? If you're unsure you can find some great information about HDMI cables in the following article.
About 4K, HDR, and Dolby Vision on your Apple TV 4k
If you're using the right HDMI cable, or the issue continues with a different cable try connecting the Apple TV directly to your TV. If you don't have issues when connected directly to your TV it would be recommended to reach out to Onkyo for additional support. You can find their contact details in the following article.
Contact Support | Onkyo USA
Take care!