Video Audio Duration Mismatch in HLS segments

When I used MediaConvert to package a video file into HLS, I'm seeing that the resulting TS files have mismatching video and audio duration. For example, when I used segment size as 6, the resulting TS file has video duration as 6.006000 and audio duration as 5.994667.

How can we ensure MediaConvert produces HLS TS files with the same video and audio duration? What settings should be used?

We need to ensure similar video/audio duration as these HLS segments will be replaced with ads by MediaTailor. We are encountering few SSAI stream playout glitches, especially on Safari due to this.