HomePod audio sync delay with Samsung TV

I have a Samsung Smart TV, a HomePod 1st Gen, and a HomePod Mini. Before HomePod OS 26.1, I would play music from Apple Music from my two HomePods and the TV. While playing music, all the devices were in sync; as I walk around the house, the music is at the same spot everywhere, enabling listening across the whole house. After HomePod OS 26.1, my TV has a few seconds delay, creating a terrible echo. Everything is fully updated and I have a strong Wi-Fi connection with low latency. If I unplug all the devices for a few minutes and plug them back in, the issue resolves for a little bit, but always returns.

How do I get the music to sync again?!