The analog audio output quality on the Raspberry Pi has been mediocre from day 1 with the RPi 1B, and that has never really been improved. Perhaps some external "digital2analog" audio board can help out. I'm not an audio guru myself.
The audio was not perfect on "Leia"18.9 but it is more than acceptable !
I opted for Raspberry Pi 4 precisely for the jack plug which does not exist on the TV Boxes
Shame