Hi Chaslet,
Select SYNC by pressing the SOUND CONTROL button (which looks like a gear). Then set the audio delay between 0~300 milliseconds by using the Up/Down buttons to correct any delays you are experiencing.
If you are using a Samsung TV from 2020, 2021, 2022, or 2023 then it will have a feature called Audio Pass-Through. You can utilize this feature on your Samsung TV to correct your audio-sync issue.
On your TV go to: Settings > Audio > Expert Settings > Digital Audio Output Format > Pass-Through.
~Samsung Solutions