High frame rate or VRR can change how the TV renders frames which sometimes throws off audio timing only on the console input. Make sure the TV applies Game Mode to that HDMI and turn off motion smoothing noise reduction, and any film mode. Those add a lot of latency and can push the audio late when ARC is in the mix. Once the picture path is lean, set TV audio to Passthrough and try console PCM. Keep the bar simple with no virtual surround. If you can only get close, use the TV lip sync slider to delay the video slightly to meet the sound.
