I'm using an iPhone X and streaming via Spotify, Saavn (Bollywood Spotify), and YouTube. Mainly see the delay in any YouTube videos. The audio apps don't make much of a difference to me, but I know there is a delay in those as well.
This is common with bluetooth audio, you’ll also see it with bluetooth headphones. Some things are better than others, but bluetooth audio latency is a known drawback. Having said that, it’s probably something that could be improved (since your other car isn’t as bad), maybe let Tesla know?