I have a pair of these BlueAnt Headphones
. They do have a slight delay that I can choose to ignore. So the delay must not be too bad, or maybe I'm rather forgiving. I don't use them much.
But I would like to make two points about Bluetooth:
First, Bluetooth is low bandwidth, so it uses a pretty lossy codec (SBC). Still, I am amazed at how well it does with such a low bandwidth, and it should sound fine for TV. I stopped using mine for music, which is what I bought them for, because the loss is noticeable with music.
Second, a delay would be inherent. The analog audio first needs to be coded into digital. Then it needs to be packetized and transmitted, and then it needs to be decoded and converted back to analog. Each of these three steps takes some time. No getting around it.
The only way to totally avoid the delay would be to use an analog setup, like the IR or RF systems that you mentioned.
Now that those disclosures are out of the way, I can say that I had good luck with the headphones that I linked to above. They are also a lot cheaper than when I bought them.