Try different DVD-R media. I first got some no-name brand that would cause sync issues. By the end of the disc the audio would be about 2 seconds ahead of the video. I didn't attribute it to the media at the time, but every program I tried had the same result.

I got some Verbatim branded DVD-Rs and those have not had the problem on the 3 discs I've burned so far. If you want, I can drop one of the Verbatim discs in the mail.