Here are some helpful tips regarding latency on through a Android TV Device:
1) Do not use HDMI “ARC” where your SHIELD TV device is connected to the TV, then signal travels to the receiver. It’s the longest, highest latency signal path.
2) If the SHIELD Android TV is connected to the receiver, it’s a good idea to set the receiver to “Pure Direct”, “Direct”, or “Game Mode” to minimize receiver signal processing-induced latency.
3) The TV/Display should also be set to “Direct” or “Game” mode and turn off any other signal processing, etc. that might create latency.
4) If necessary, connect the set-top box directly to the TV and set the audio to “TV Speakers” to minimize latency if the audio receiver creates too much latency