Hi @MikeHatton
Welcome to the Sonos Community!
Sonos products with HDMI will play the audio they receive immediately (unless told not to by the audio delay setting). Any delay in audio is likely caused by your TV - it may be converting DTS or Atmos soundtracks into Dolby Digital, which takes time. The TV should, however, delay the picture by that same amount of time.
The first thing I recommend you do is make sure your TV software is up to date.
Please test devices on other HDMI inputs, and TV built-in apps - sometimes the issue is only noticeable on certain sources.
If TV apps are OK, but HDMI inputs are out of sync, you may want to tell those devices to output Dolby Digital - this may remove the TV’s need to re-encode the audio for the Beam.
You may also want to try Samsung forums or technical support for solutions, but hopefully someone here will have a solution for you, if nothing above helps.
"Common sense is the collection of prejudices acquired by age eighteen." - Albert Einstein