As I understand the current situation latency of video is always going to be any issue if you are going through home assistant - there are technical reasons for this that are being worked on. This thread is useful but quite techie in places - I tried all the camera platforms so you don't have to
if you are using thre tapo Cameras then I highly recomend using this plugin [Custom Component] Tapo: Cameras Control developed by @JurajNyiri
I use automations that are triggered by the motion detectors in the Tapo cameras to record 30s video clips of the HD stream. I have a wireless doorbell thats got an DIY wirless hack (ESP32) into it so I when the doorbell is pressed the SD stream is cast to a nest hub, so same principle as to android TV.
Happy to provide more info but suggest you take a read of those two threads.