Yes, my audio gets out of sync once in a while...
Just did a search, there aren't 20 threads on it, but there are at least half-a-dozen... OTA audio sync issues, HDN sync issues, etc.
Tivo does do a nice job of seamlessly integrating your basic cable or a regular OTA (non-HD) with the Voom channels... they are all available in the Tivo program guide, and the system changes channels as need to record them.
For the IR blaster, i've found the "med" setting works better than...