the audio is always laggin or does it happend sometimes?

The first thing that occurs to me is that in your area there is some device interfering with the Bluetooth signal, if not that it should be the codecs or drivers of the device, check the codecs using this on the terminal "pactl list cards | grep -A2 "Active Profile"" The profile name often includes the codec in use (e.g., "a2dp_sbc" for SBC). good luck