Welcome to the Forums, and to the site!
I have only been here a short while but let me tell you that I picked up a lot just by reading, then trying some of the well informed suggestions etc.
I am having the same issue too, but what I have learned is that if you encode with 2 pass instead of one (for a higher quality) rip, it works well, audio syncs.
I have some dvds that just will not sync properly, not sure why, I have just chalked it up to the dvds. I have some dvds that full well have movies on them that aren’t even recognized by the drive.
I have gone as far as swapping drives, just one of those things.
That is where the reading comes in. I search, read, then attempt.
Do you have the latest version?
Provide us with some details like version, OS, hardware etc.