5Select is indeed on the BBC B multiplex; and in all Nations and Regions.5Select is a DVB-T2 channel where I've seen it, which is more significant for this issue than the actual resolution, I think, though the actual audio compression standard in use may be relevant. But of course there's no DVB-T equivalent for comparison.
Digitalbitrate reports it as 96 kbit/s AAC. So it will be transcoded to DD 2.0 in any Freeview HD receiver.
HD channels are all 128 kbit (stereo 2.0) or 320 kbit/s for 5.1 surround. (Plus a 48 kbit Narration (audio description) data channel that can be mixed in to the main audio).
5Select had a PID for audio description allocated, but with zero data recorded; so might sometimes carry AD?
I'll be really interested in what the TV speakers vs the ARC out to soundbar gives with the Humax on bitstream and am rather surprised the OP has not already tried that test.
As other -T2 users aren't all complaining, it's either not an issue for them or - perhaps - OP is especially sensitive to lip sync errors.
I wonder if anyone here has a .TS file recording from when the BBC transmitted the HD Test Card and Lip Sync Test that could be used by OP (and other -T2 users) as a known sample programme? {Not the You Tube re-encoded copies out there.}
Assuming it was ever broadcast on terrestrial TV !?? (I have some, brief, DSat recordings of them but they aren't HE-AAC of course and it may be something to do with that transmission method.)