I've downloaded it and replayed the video file in VLC Player. Just skipped parts and listened to it a few seconds, also towards and at the end when we see the person speaking. It looks fine to me, the lips are synced to what he is speaking. Besides that the uploader could have made a mistake (I've seen videos desynced online), this seems to be fine. It could be a problem with the video player or codec on your system? Or the ffmpeg version you have (yt-dlp uses ffmpeg to do stuff).

It's hard to say what's going on. I can only confirm that downloading this video with yt-dlp looks correctly synced to me. Edit: I remember in the past I had a video player that would out of sync for long video sessions. It was a problem with some codec not properly supported or like that and switching the video player worked. I have no more information, it was random on a Tuesday morning years ago.