Welcome to the Bose Portable PA Community. This is an interesting question.
There's alway some delay (latency) with Bluetooth audio. It's inherent in the technology. We typically don't notice until we introduce video or live sound into the mix.
That may be why your TV does not support Bluetooth audio. It's challenging to synchronize video and Bluetooth audio. Some advanced systems can delay the video so the audio can stay synchronized.
For the least amount of latency, the you need a low-latency Bluetooth codec at both ends of the connection (for example: aptX low-latency). So one solution might be to get a Bluetooth receiver that supports aptX low-latency. It appears that your Bluetooth transmitter supports this, so an external Bluetooth receiver that supports this codec might solve the problem. I can't promise it will. We're talking about two third-party devices between the TV and the S1 Pro.
The S1 Pro Bluetooth implementation was engineered to support the A2DP codec for Bluetooth audio for playing recorded music.
As a matter of interest, I frequently watch Netflix and Amazon Prime on my iPad and stream Bluetooth Audio in stereo using the Bose Connect app streaming to two S1 Pro systems. There is a bit of latency, but it's only distracting if I watch for it. The A2DP codec can work fine if the source device (in my case the iPad) manages the synchronization. This information doesn't help you though. Your TV doesn't support the Bose Connect app or stream Bluetooth.
I can't explain why the Apple airpods don't have any delay. From what I've been able to find online, they don't support aptX either.
Reference: What's the difference between A2DP and aptX