Homepod mini's have audio delay when used as speaker for my apple tv.

I received my Homepod minis on on 14.5 and they had a noticeable audio delay when paired with my apple tv 4k compared to what's happening on screen. No amount of fiddling with the audio sync was able to fix this. Eventually 14.6 fixed all this and it remained fixed until 15.0. I was hoping 15.1 would fix this again, but it didn't. Any thoughts on what to do?

I called in a ticket to support and they recommended I also post here for visibility as well.