[philliphaydon]

AirPods and AirPods Pro in my phone or laptop (linux) both have no noticeable latency.

My wife and I pair both our AirPods pro at the same time to the Apple TV to watch shows (daughter sleeps in the same room) and never have any latency issues.

[bouke]

That's because the video is delayed as well, to match the audio latency. AirPods switch between Headset Profile HSP) (low latency, mono, best for voice) and Advanced Audio Distribution Profile (A2DP) (high latency, stereo, good for music) to accommodate both use-cases.