The delay you are hearing with a console over ARC is common because the TV often repackages the audio before sending it to the bar and the bar then adds its own processing. Streaming apps can line up better because the TV controls both audio and video timing in one pipeline. Keep the console plugged into the TV and the bar on the TV ARC or eARC port. On the TV set sound to Passthrough and set lip sync or AV sync to zero on that input. On the console try Linear PCM instead of Dolby formats. On the bar disable virtual surround dialogue boost night mode and any auto volume. Turn on Game Mode on the TV for that HDMI input and make sure motion smoothing and noise reduction are off. If the bar still lags add a small video delay on the TV so the picture waits for the audio. Firmware updates across TV bar and console can also tighten sync.
