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Hardwiring my Apple TV to the router solved these issues for me.
not me, in my living room i have the apply tv 4k hardwired into the ASUS mesh router, and two OG homepods. The delay is AWFUL
 
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not me, in my living room i have the apply tv 4k hardwired into the ASUS mesh router, and two OG homepods. The delay is AWFUL

Do you experience delay when watching content or just in the UI?. If its just in the UI, I would make the HP the default audio output of the Apple TV whenever you desire to watch content, and unpair them after that, if only because making them the default output improves sound quality and gives you Dolby 5.1/7.1/and Atmos support.
 
Absolutely it is an Apple problem. Except in extremely rare circumstances it is never down to the owners network.
One not-so-rare network issue is if you have a separate wifi router connected to your primary ISP router. A common mistake would be to connect your ethernet network directly to the ISP router. If you do that, and have airplay clients connected both wirelessly and through ethernet, then you've created a situation where Airplay will have to work between your ethernet network and wifi subnet, and it doesn't do that well at all. So best practice is to either have all of your airplay devices connected to your wireless network (via wifi or hardwired to the wifi access point), or to run your wifi in bridge mode.

Also, it's more specific than an Apple problem - it's a HomePod and HomeKit problem. I have no issues airplaying lossless music to a combination of wired and wireless speakers, including Sonos, AppleTV, and airport express. I did have problems when there was a HomePod in the mix, and as mentioned earlier have never had luck getting HomeKit to choose speakers. HomePods are a poison to your airplay network.
 
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One not-so-rare network issue is if you have a separate wifi router connected to your primary ISP router. A common mistake would be to connect your ethernet network directly to the ISP router. If you do that, and have airplay clients connected both wirelessly and through ethernet, then you've created a situation where Airplay will have to work between your ethernet network and wifi subnet, and it doesn't do that well at all. So best practice is to either have all of your airplay devices connected to your wireless network (via wifi or hardwired to the wifi access point), or to run your wifi in bridge mode.

Also, it's more specific than an Apple problem - it's a HomePod and HomeKit problem. I have no issues airplaying lossless music to a combination of wired and wireless speakers, including Sonos, AppleTV, and airport express. I did have problems when there was a HomePod in the mix, and as mentioned earlier have never had luck getting HomeKit to choose speakers. HomePods are a poison to your airplay network.

Yup I’m not using Wi-Fi on my ISP router, I’ve set that to modem only and am using an ASUS router for all connections
 
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