That TV has an optical output, is there a particular reason are you using the analogue headphone jack? They should of course be able to perform without a lip-sync delay in all modes, but I would hazard a guess that the optical out might eliminate sync issues.
Not sure what else to say about your sync issues. I have my RS185 set up with my HTPC (optical out) and if I watch a movie at 1080p@23hz, there is no delay. If I watch the same movie at 2160p@23hz (my preferred method), there is 250ms~ delay which I must correct. The point is that I don't think the delay is inherant to the headphones, but rather what (and how) audio is fed to them.
I know you asked the question to
@Rosmadi Mahmood but I'll weigh in on the pads question. I can unofficially confirm (
) they will probably fit. I believe RS165, 175, 185, 195 pads are all interchangeable. Apologies if I'm wrong.