Set Up (wiring) Question

I have a Roamio OTA, an LG TV and a Vizio sound bar. When I connect the optical audio wire TV to sound bar, I have a slight sync issue with some channels. When I connect the optical audio wire Tivo to sound bar everything is perfect EXCEPT when I switch outputs ( example: HDMI 1 to HDMI 3 to watch something thru Chromecast or my DVD player) and then of course I have to switch the wire out of the Tivo and into the TV. Any suggestions as to how I can get everything working together and synced?

Thanks!