Ok, so I can leave the Apple TV set to not change the audio signal. The switcher box is on 5.1 now, and that seems to be ok. I’ll have to live with occasional sync issues, and lack of DTS.
Edit: I had to set the “change format” to Dolby Digital 5.1 for things to work.
I had the same issue with ATV 4K – Lg C1 – Sonos ARC and i asked @DaveBinM on the following post to enable a “required flag” for my plex account. After installing the beta version and getting that flag enabled, no more audio delay.