I also have the same issue with two shows. Both are a few years old and MKV.
I wrote more about it here:
Skipping forward or back will reset the audio sync issue. It happens on two of my TVs, slightly different setups:
Nvidia shield (2017) + Samsung TV + Sonos Beam
And
Nvidia shield (2015) + old LG TV w/ tv speakers
A few people said it’s your tv, it’s unlikely it is.
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