I bought a ‘Digital Optical Coax Coaxial Toslink to Analog RCA L/R Audio Adapter Converter’ on eBay in 2013 ($16.63 total). It’s between my Sony HDTV toslink out and an older Pioneer component stereo. I just checked audio with Judge Judy show and I didn’t hear any delay, I listened to TV speakers, stereo speakers, and both at same time. I plugged the converter electrical plug into the back of my stereo, so that the converter is only powered when I plug in the stereo. Usually only use stereo for Netflix movies or Pandora or 3D Blu-ray player. Several of the converters on eBay all look the same with no brand name, mine doesn't have a brand name on it. I'd stay away from Amazon or eBay items shipped from China, still waiting (over a month) on some headphone ear pad covers from Amazon/China seller. May have to contact Amazon about this China seller.
I previously used the TV headphone out jack and a splitter cable to connect to my Pioneer stereo; but had to switch to the TV Toslink out because I connected a HTPC to my Sony TV, and the PC video plug and headphone plug were to close together (both plugs would not fit at same time). With the Toslink can listen with TV speakers or stereo speakers, and sometimes I've used both at same time.
This way can use Pioneer Stereo with HTPC, OTA, Blu-ray, or Roku 2 (2015).