Aman is working to fix audio w/ HomePod AirPlay 2 issues. He released a beta - 2.13.113 - yesterday that, for me, is a huge improvement. If you haven’t gotten that one yet, try it. And, be sure to set the audio driver to default as that is the one he is working on to correct the issues.
My setup is ATV4K, TVOS 14.5 (beta) and also 14.5 on the HomePods. The HomePods are set to be the default audio device in the ATV config.
Prior to yesterday’s beta Channels client release HomePod was unusable for me and I had to switch back to the integrated TV speakers. Symptoms included sync issues on ATSC 3.0 channels and audio stopping after few seconds on TVE channels. With is sync is SIGNIFACNTLY improved and there are only occasional chirps while audio & video catch up to one another.
Also, Aman has indicated he has ordered a pair of HomePod Minis so that he can further work on the audio issues with AirPlay 2.