Burner has nothing to do with audio delay as it simply makes a 1:1 digital copy. It's Nero authoring part which causes the problem.
Don't ask here for a warez copy. There are freewares you may use to make menus, unless you want a Hollywood-like quality:
http://www.videohelp.com/tools/GUI_for_dvdauthor
http://www.videohelp.com/tools/Muxman
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