I think 'video ahead of audio' is an increasing problem these days. Historically video processing was almost always slower than audio processing but that is no longer the case. TV manufacturers have put quite a bit of effort into reducing lag for gaming, so video processing times are now often just a few ms (especially for OLEDs).
AVRs do all sorts of audio processing, not least of which is adding delays to synchronise sound from different speakers. If you have some speakers much more distant than others then this will result in more delayed audio all round. Hence, try to get your speakers as close to equidistant as possible.
TVs and AVRs all typically include controls to increase delay audio but so far I haven't seen any that offer a way of delaying video (would require a larger memory buffer). This means that you can't easily fix 'video ahead of audio'.
Edit: Amir's point that sync chops and changes from one program to the next is also true. I try to ignore it, but it does bother me.