Yes, Bluetooth audio got a delay to it. Not an issue when listening to music or talking on the phone. But watching a video, there is a definite mismatch. Not just for cars. Try using a BT transmitter with a home theater receiver. This is why most home theater wireless headphones are either RF or infrared.
If you want to watch videos on the phone, and hear sound via BT, many apps have an audio delay setting that can be adjusted. What app are you watching the videos on?