Use FFMPEG to convert MP4/AAC to MP3 without audio time getting shortened - audio

Question

I've been struggling with extracting the audio from a couple of mp4 files I have. I have tried using all of the different answers posted previously on Stack Overflow, but each of them results in an mp3 file that's shorter than the original mp4.
If anyone has any insights as to what I'm doing wrong, that'd be greatly appreciated, or at the very least why it's not this simple to convert from mp4 to mp3.
I have tried copying the codec and using variable bitrate. The input video is 1:24:56, but the output audio is 1:24:46.
Command: ffmpeg -i sample.mp4 -c:v copy -q:a 0 sample.mp3
Output:
$ffmpeg -i sample.mp4 -c:v copy -q:a 0 sample.mp3
ffmpeg version 2023-01-09-git-13d04e30d7-full_build-www.gyan.dev Copyright (c) 2000-2023 the FFmpeg developers
built with gcc 12.1.0 (Rev2, Built by MSYS2 project)
configuration: --enable-gpl --enable-version3 --enable-static --disable-w32threads --disable-autodetect --enable-fontconfig --enable-iconv --enable-gnutls --enable-libxml2 --enable-gmp --enable-bzlib --enable-lzma --enable-libsnappy --enable-zlib --enable-librist --enable-libsrt --enable-libssh --enable-libzmq --enable-avisynth --enable-libbluray --enable-libcaca --enable-sdl2 --enable-libaribb24 --enable-libdav1d --enable-libdavs2 --enable-libuavs3d --enable-libzvbi --enable-librav1e --enable-libsvtav1 --enable-libwebp --enable-libx264 --enable-libx265 --enable-libxavs2 --enable-libxvid --enable-libaom --enable-libjxl --enable-libopenjpeg --enable-libvpx --enable-mediafoundation --enable-libass --enable-frei0r --enable-libfreetype --enable-libfribidi --enable-liblensfun --enable-libvidstab --enable-libvmaf --enable-libzimg --enable-amf --enable-cuda-llvm --enable-cuvid --enable-ffnvcodec --enable-nvdec --enable-nvenc --enable-d3d11va --enable-dxva2 --enable-libvpl --enable-libshaderc --enable-vulkan --enable-libplacebo --enable-opencl --enable-libcdio --enable-libgme --enable-libmodplug --enable-libopenmpt --enable-libopencore-amrwb --enable-libmp3lame --enable-libshine --enable-libtheora --enable-libtwolame --enable-libvo-amrwbenc --enable-libilbc --enable-libgsm --enable-libopencore-amrnb --enable-libopus --enable-libspeex --enable-libvorbis --enable-ladspa --enable-libbs2b --enable-libflite --enable-libmysofa --enable-librubberband --enable-libsoxr --enable-chromaprint
libavutil 57. 43.100 / 57. 43.100
libavcodec 59. 56.100 / 59. 56.100
libavformat 59. 34.102 / 59. 34.102
libavdevice 59. 8.101 / 59. 8.101
libavfilter 8. 53.100 / 8. 53.100
libswscale 6. 8.112 / 6. 8.112
libswresample 4. 9.100 / 4. 9.100
libpostproc 56. 7.100 / 56. 7.100
Input #0, mov,mp4,m4a,3gp,3g2,mj2, from 'sample.mp4':
Metadata:
major_brand : isom
minor_version : 512
compatible_brands: isomiso2avc1mp41
encoder : Lavf57.83.100
Duration: 01:24:56.57, start: 0.000000, bitrate: 612 kb/s
Stream #0:0[0x1](und): Video: h264 (High) (avc1 / 0x31637661), yuv420p(tv, smpte170m, progressive), 1920x1080 [SAR 1:1 DAR 16:9], 480 kb/s, 29.94 fps, 30 tbr, 90k tbn (default)
Metadata:
handler_name : VideoHandler
vendor_id : [0][0][0][0]
Stream #0:1[0x2](und): Audio: aac (LC) (mp4a / 0x6134706D), 44100 Hz, stereo, fltp, 125 kb/s (default)
Metadata:
handler_name : SoundHandler
vendor_id : [0][0][0][0]
Stream mapping:
Stream #0:1 -> #0:0 (aac (native) -> mp3 (libmp3lame))
Press [q] to stop, [?] for help
Output #0, mp3, to 'sample.mp3':
Metadata:
major_brand : isom
minor_version : 512
compatible_brands: isomiso2avc1mp41
TSSE : Lavf59.34.102
Stream #0:0(und): Audio: mp3, 44100 Hz, stereo, fltp (default)
Metadata:
handler_name : SoundHandler
vendor_id : [0][0][0][0]
encoder : Lavc59.56.100 libmp3lame
size= 88336kB time=01:24:56.54 bitrate= 142.0kbits/s speed= 172x
video:0kB audio:88336kB subtitle:0kB other streams:0kB global headers:0kB muxing overhead: 0.000394%