I’ve heard Bluetooth compromises the audio quality, is it true?

Newer BT technology has less of the issues you mention. Newer, more expensive BT speakers commonly have this technology. Look for AptX or even AptX low latency technology for a BT speaker. This isn’t required but allows for better sound quality and responsiveness overall (especially for shows and movies). Of course, your larger speakers with an aux or optical input will sound better, as this is your standard tech for your very high-end speakers. BT speakers usually don’t reach as far in terms of quality or price compared to the large wired speakers, but there are still many high-end options with good BT technology (like Bose, JBL, Sonos). If you really want an aux input, getting a speaker with BT and a wired input (usually aux) will give you best of both worlds.

/r/Bluetooth_Speakers Thread