I have similar problem: after ripping (conversion) DVD VIDEO_TS folder to MP4 file - audio (voice) is delayed for 4-5 sec.
I tried various values of Video Quality/Bitrate and Audio Quality/Bitrate (last option was Video Quality/Bitrate 2000 kbps, Audio Quality/Bitrate 128 kbps) and still there was 3-5 sec audio delay. What is the solution?