You are by far not the only one, there are threads and threads on this across various forums. I've read heaps of them, tried heaps of things, and ultimately have my AVR set to offset audio by (IIRC) 90ms. This isn't perfect, as the offset needs to be different in different frame rates, but gets me close enough to deal with it. I would *love* a better solution. From my perspective the question isn't "why nobody else has this" but rather, how on earth do people without this problem avoid it!
From my tests, the only thing that has worked is turning off adaptive frame rate. But I watch enough mixed content for this to be a bad solution. I even tried a HDFury to move the video processing entirely out of the AVR to no avail (the hdfury went back, twice, due to faults, so I'm not going that route again). My next AVR, which wont be too far away because I want 8k (well, 120hz 4k really) switching support, will not be a Denon or Marantz. I'm hoping that helps. I guess the obvious thing would be to ditch the Apple TV, but I'm well and truly embedded in the apple echo-system, and it does many things well. The auto-lip sync even works well... with frame rate content match disabled.