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DVD viewing doesn't use the sound cable from the drive to the audio at all. Sound is extracted from the DVD data stream digitally, and processed through the board's sound engine.
What you got there is lag in getting the video onto the screen, while the TV sound (which is fed into the audio output circuitry directly) obviously is lag-free since it isn't being processed.
Make sure the system is running the TV imagery in "hardware overlay" mode.
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