When you get unsynchronized audio converting to dvd-video in AVStoDVD, it is usually due to something odd in the encoding of the original file. I don’t know what you started with, but AAC and variable bit rate mp3 audio have been known to cause occasional problems.
If you are using the default audio converter of Wavi + Aften, I would suggest using one of the alternative choices, in particular Ffmpeg (Safe Mode). You can also try removing the check mark from the box to Auto Adjust Delay. Both of these settings can be found under Preferences–>Audio.
The burning program used to put the dvd-video on the disc is not responsible for the audio issues you’ve experienced, so changing burning programs will not help.