I may be wrong but if I remember correctly the reason it lags is that until the recent forced earbuds explosion the bluetooth protocol was focused on low energy efficient transmission for personal smart devices, and audio transmission was just an “extra” feature
Because they can remove a small 10 cent component and sell you disposable 200€ headphones wich will be e-waste in 2 years, just look at how many more features the note 9 and 8 have compared to the s23 ultra, while the latter costs double