Bluetooth headphones.

While I do have some BT earphones and some BT headphones for use while out and about I use a pair of RF headphones while at home to listen to my TV and hi-fi when pottering around the house and garden as the range is much greater and more reliable than BT.

As far as audio lag goes BT will if anything introduce delay into the audio which is what you would normally use the TV settings to do. But that will be a faff if sometime you are using the TV sound and sometimes the BT headphones as each would need a different adjustment. I use my wireless headphones while I am out of the room so if there were any lag it would not be noticeable.
 
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