So let me start by saying that I believe ~3 weeks ago this was not an issue - unfortunately I tend to update my server with the pre-release version every few days and this has now been an issue for more than a week, at least. In a nutshell, I'm TVE-only and when I select a channel from the guide there is a brief period where the audio works, then the picture appears and is at like 5x speed for a couple of seconds, then it usually settles down mostly. Audio is behind, and there is still stuttering most all the time.
I thought this might be a ARC or CEC issue, but CEC is disabled on most of my sticks and they all exhibit this behavior, though some to a lesser degree it seems. The main TV and soundbar are the worst. I have an Amazon Fire TV Stick 4K as well and while it showed this behavior briefly about a week ago it has been fine ever since.
Happy to provide more info. For sure the TiVo sticks worked great at first and I strongly prefer them to the Fire TV sticks now so they're on all my TVs.