If anyone else happens to come to this board for the same reason, it is possibilty the TV you are using. I have an LG TV and I noticed this lag and this lag with the audio and picture can be fixed in the settings on your TV. I went to Settings, Sound, AV Sync on and checked the word Bypass. I have tested this and it seems to be in sync to be. But I had another player play the game and still finds the TV with a slight lag.
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