I’ll be really surprised if the tv can output sound over USB. I expect you’re going to need some kind of intermediate hardware. If the TV has a Bluetooth out you can use something like a Qudelix as the intermediate. A stereo receiver will also usually have a headphone out (and optical or HDMI arc input you can use to get sound from the TV). Or you can get a dac/amp, they almost always have an optical input, and TVs have optical outputs.

The Bluetooth option will involve some compromise on sound, and also has a bit of lag. Any other option won’t compromise quality in any significant way. Including USB, if somehow that works (which, again, would shock me).