Could this be the sync being lost between the tv and TiVo - which cause the audio and video going off for 2-3 seconds?
You may need to power everything off - then switch the tv on and a few seconds later the TiVo box.
If it is the sync issue it could also be a cable issue between the two.
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V6 TiVo (with MRS & UHD/HDR)
VIVID 500 (500/35mb) in Area 31
SkyQ Silver Bundle (UHD + 2 minis)