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@hawkeye217 thank you, for your support!

I can confirm that in my case its related to the MPEG-TS to fMP4 change and the timing of the audio being incorrect.
In my case I can't adjust the audio settings other than on/off so I cant directly fix the offset.
If anyone else looking into this you have two solutions

  1. Disable audio all together from the camera
  2. Disable audio with ffmpeg in your go2rtc config similar to bellow line
    - ffmpeg:rtsp://192.168.0.30/user=admin_password=tlJwpbo6_channel=1_stream=0.sdp#video=copy

In my case weird thing still is that the audio stream is in sync with the sub stream but ends up offset with the recording, so live view is working also with audio.

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Answer selected by ristoavila
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